Day 1 :
Keynote Forum
Fuchiang (Rich) Tsui
Children’s Hospital of Philadelphia, USA
Keynote: Clinical predictive analytics for the reduction of morbidity, mortality, and costs in healthcare from large electronic health records and community data
Time : 10:00-10:30
Biography:
Abstract:
Keynote Forum
Hen-Geul Yeh
California State University, USA
Keynote: From digital signal processing to artificial intelligence
Time : 10:30-11:00
Biography:
Hen-Geul Yeh has completed his PhD from University of California, Irvine. Currently, he is the Chair of Electrical Engineering Department, California State University, Long Beach (CSULB), and has served as the Director of the DSP Laboratory since 1986. He has published more than 100 papers in referred journals and conferences in DSP, communications, power and control systems. He has been serving as an Editorial Board Member of IEEE Trans on circuits and systems II since 2016.
Abstract:
Digital Signal Processing (DSP) is a general technical term or function which means the processing of discrete-time signals or data sequence either in real-time or off line to get the desirable result. In this paper, we review the history of the development of DSP and the connection to the applications in Artificial Intelligence (AI), including both hardware and software algorithms. Since World War II, if not earlier, electronic engineers have speculated on the applicability of digital hardware techniques to the many problem areas in which signal processing plays a role. Thus, for example, Laemmel (1948) reports a lunchtime conversation among Shannon, Bode, and several other Bell Laboratory scientists on the possibility of employing digital elements to construct a filter. Needless to say, the conclusion was not favorable. Cost, size, power consumption, and reliability strongly preferred analog filtering and analog spectrum analysis techniques. It was not until the mid-1960 that a more formal theory of DSP began to emerge. By then the potential of integrated circuit technology was appreciated and was reasonable to complete signal processing systems that could best be synthesized with digital components. As of today, there are many embedded hardware platforms build on very large scale integrate circuits (VLSI), such as floating-point digital signal processors as well as field programmable gate array (FPGA). At the same time, DSP techniques have been advanced rapidly in recent years and have found many applications in almost every field of technology. In software algorithm development, it starts from adaptive signal processing (1975), then moves to machine learning, neural network, and finally named as artificial intelligence, which becomes a rapid growing field today.
Keynote Forum
Jon C Haass
Embry-Riddle University, USA
Keynote: Advances in machine learning for intrusion detection
Time : 11:20-11:50
Biography:
Jon C Haass has received his PhD from MIT in Applied Mathematics and continued as a CLE Moore Instructor before starting his first company in the field of GPS assisted navigation. He is the Chair of the Department of Cyber Intelligence and Security at the nation’s first College of Security and Intelligence. He has published and presented more than 30 papers in diverse areas ranging from galactic dynamics to cyber threat intelligence information sharing. He is active in building the cyber security workforce in Arizona and is a Member of CyberAwareAZ and the Arizona Cyber Threat Response Alliance (ACTRA).
Abstract:
Machine learning methods show promise in reducing the number of network analysts required to monitor a large complex network for malicious or anomalous activity. This would potentially free humans to perform other tasks such as mitigation, recovery and analysis of the attack or malware. Today, false positives, inherent in any detection system, wastes precious resources. To utilize machine learning techniques, to improve both issues; sensor data or variables must be pre-processed in some manner to provide input to the learning system. Deep neural nets have demonstrated success of artificial intelligence methods in restricted domains, however, in cyber security applications the problem space is essentially unbounded. Further, the adversary seeks to foil detection. This presentation will briefly look at techniques and problems that have led to our current understanding and solutions. Notable progress by researchers has improved performance in the past several years. Some solutions are being brought to market by startup companies spun off from academic research. A review of two promising approaches will be followed by a discussion of a model that identifies critical variables and sensory input to feed into a learning network. The challenges faced in this project and directions for future research to improve the detection rate and response to changing attack models will conclude the talk.
Keynote Forum
Justice Opara-Martins
Bournemouth University, UK
Keynote: Oligopoly of cloud vendors - the impact of vendor lock-in risks to business innovation
Time : 11:50-12:20
Biography:
Justice Opara-Martins is a Research Fellow in Computing and Informatics Research Centre (CIRC) at Bournemouth University, United Kingdom. His research interests include cloud computing, virtualization, ICT systems and big data – with an emphasis on the operations management aspects (incl. Internet and mobile cloud apps.). His studies and research discoveries will provide senior IT professionals, decision-makers, to seasoned software/solution architects and migration experts within major enterprises with new insights into transforming the way cloud and IT engages with and serves their organizations, including how to effectively tackle the latest migration challenges caused by the cloud lock-in problem. He holds a BSc in Information and Communication Technology (ICT) from Southampton Solent University (UK), an MSc in the field of Computer Science and Communication Networks, an MPhil in Wireless and Mobile Cloud Networks, and a PhD degree in Cloud Computing from Bournemouth University (UK), respectively. He has authored and co-authored several scientific publications in internationally recognized peer-reviewed journals, books and conference proceedings in the areas of cloud computing adoption barriers and enterprise information systems management. He currently serves as a Program Committee Member for Conference Series on Software Engineering for Service and Cloud Computing (SE-CLOUD), a Member of the editorial team for Computer and Information Science Journal and also a reviewer for the widely read computing publication entitled; Springer Journal of Cloud Computing: Advances, Systems and Applications.
Abstract:
Cloud computing offers an innovative business model to enterprise for IT services consumption and delivery. Software as a Service (SaaS) is one of the cloud offerings that attract organizations as a potential solution in reducing their IT cost. However, the vast diversity among the available cloud SaaS services makes it difficult for customers to decide whose vendor services to use or even to determine a valid basis for their selections. Moreover, this variety of cloud SaaS services has led to proprietary architectures and technologies being used by cloud vendors, increasing the risk of vendor lock-in for customers. Therefore, when enterprises interact with SaaS providers within the purview of the current cloud marketplace, they often encounter significant lock-in challenges to migrating and interconnecting cloud. Hence, the complexity and variety of cloud SaaS service offerings makes it imperative for businesses to use a clear and well understood decision process to procure, migrate and/or discontinue cloud services.
Keynote Forum
Eduard Babulak
National Science Foundation, USA
Keynote: Future robotics and automation for the third millennium
Time : 12:20-12:50
Biography:
Eduard Babulak is accomplished international scholar, researcher, consultant, educator, professional engineer and polyglot, with more than thirty years of experience. He served as successfully published and his research was cited by scholars all over the world. He serves as Chair of the IEEE Vancouver Ethics, Professional and Conference Committee. He was Invited Speaker at the University of Cambridge, MIT, Yokohama National University and University of Electro Communications in Tokyo, Japan, Shanghai Jiao Tong University and Sungkyunkwan University in Korea, Penn State in USA, Czech Technical University in Prague, University at West Indies, Graz University of Technology, Austria, and other prestigious academic institutions worldwide. Academic and engineering work was recognized internationally by the Engineering Council in UK, the European Federation of Engineers and credited by the Ontario Society of Professional Engineers and APEG in British Columbia in Canada. He was awarded higher postdoctoral degree DOCENT - Doctor of Science (DSc.) in the Czech Republic, PhD, MSc and High National Certificate (HNC) diplomas in the United Kingdom, as well as, the MSc and BSc diplomas in Electrical Engineering Slovakia.
Abstract:
The future research innovation and development is in the field of Automation and Robotics in conjunction with the ubiquitous access to Internet, Information Communications Technologies (ICT), Smart Computational Devices (SCD) and Ultrafast Global Communication. The third millennium is a new era the Smart Cyberspace that is becoming pervasive in its nature while connecting the next generation of Ultra-Smart Robotic. Device with the computationally powerful SCDs is accessible to anyone, anywhere and at any time. In support of Automation and Robotics, the telecommunications networks providers and SCDs developers, are working together to create much faster transmission channels with provision of higher quality of service for any multimedia content for anyone, anywhere at any time. The human machine interface with high definition audio and video facilitates seamless control of Smart Robotics and Computational Devices (SRCD), which are becoming a common technology in family homes, business, academic, and business, and industry worldwide. Today, SRCD are communicating via Robotic Internet and may be accessible to public and private customers, while storing important and to some extend confidential information in their memory. In case that SRCD may be lost, stolen or hacked into, the information stored in the memory could be abused, compromised or used for malicious purposes. In near coming future, we may see the SRDC be used to aid, or to protect family residential areas, private homes, schools, hospitals, manufacturing plants, as well as, Cyber Physical Critical Infrastructures (CPCI) such as, atomic power and chemical plants, and large cities. The further research, innovation and development of Future Ultra-SRCD side by side with Future Ultrafast Robotic Internet, will require even more research, innovation and development in the field of Cyber Assurance and Security. Proper safety and security mechanisms and policies will become critical to protect the SRCD and COIP from any form of intrusion or cyber threads from anyone, from anywhere at any time. The author discusses the current and future trends of research, innovation and developments in SRCD, CPCI and Cyber Assurance, in conjunction with the Future Ultra-Fast Internet and Ultra-SRCD. The author promotes creation of multidisciplinary multinational research teams and development of next generation SRCD and Fully Automated Environment while utilizing Ultra-Smart Robotic and Computational Devices, in conjunction with the critical Cyber Safety and Assurance challenges for today and for tomorrow.
Keynote Forum
Jacques W Brook
Innovation Gateway, Netherlands
Keynote: Adopting artificial intelligence in the next generation of automation: its implication for firm’s innovation strategy towards 2035
Time : 13:30-14:00
Biography:
Jacques W Brook has his background in Strategic Management, Technology and Innovation Management, Organization Design and Managerial Economics. He obtained a Master of Science in Computer Sciences from Eindhoven University of Technology, The Netherlands; a Master of Philosophy and a Doctor of Business Administration degree with distinction from the Maastricht School of Management in The Netherlands. He served as Associate Professor of corporate innovation strategy and emerging markets at the Maastricht School of Management, in Maastricht, The Netherlands. He has published both academic and practitioner articles in the fields of Strategy, Technology and Innovation Management, and Emerging Market. In addition to his academic activities, he holds managerial and consulting positions in the industry. He is currently the Managing Director at Innovation Gateway Nederland BV and before, he was partner at Ordina N V a leading Dutch information technology service provider. He also worked at KPN, the largest telecom service in The Netherlands.
Abstract:
The competitive advantage literature establishes a strong relation between technology innovation and high firm performance. As an emerging technology, Artificial Intelligence is increasingly associated with the potential to lead disruptive innovation, and becoming a new factor of productivity and profitability across industries. However, to be able to benefit from the full potential of Artificial Intelligence, firms should understand the new design challenges ahead, beyond technology, and consequently develop appropriate innovation strategies. In this context, a multidimensional approach to innovation management is used to discuss the design challenges across the dimensions which include: technology, business model, business processes, organization design, services/products and sustainability. In our view, synchronizing design objectives between these dimensions helps to assess the implications of the adoption of the artificial intelligence for the firm’s innovation strategy towards 2035 for example. It is about helping the leadership during strategic planning processes to understand how to navigate landscape of the next generation of automation with artificial intelligence. From a practical perspective, three cases which include healthcare, insurance and government are discussed.
Keynote Forum
Dhananjay Singh
Hankuk University of Foreign Studies, South Korea
Keynote: Enabling distributed networks for connected vehicles
Time : 14:00-14:30
Biography:
Since last few years, Smart City and related projects are evolving rapidly so users are shifting from local server to community data centers. Therefore, smart city markets are desperately in need of solutions that can improve safety of people, security of vehicles and can reduce the cost of ownership. This talk focuses on the convergence of the distribute networks and automotive technology towards the visualization pattern and smart city services. However, Internet of Vehicle (IoV) is an emerging concept of computing technology which is fast emerging as a successful extension to existing Internet in an embedded automotive sensor device in recent years. Researchers have visualized interconnections of billions of smart embedded devices to change the way of life. Therefore, several IoV and M-2-M initiatives are going on for the development of sensing technologies for the automotive technologies especially in machine-to-real-world and machine-to-humans. The resultant of the IoV objects are utilized for embedded technologies to monitor, control and for comfortable and secure life of driver and vehicle. This talk mainly focuses on the following questions: What are the most appropriate distributed architectures to support smart city services?; What are the most suitable ways to the management of Internet of Vehicles Applications? and; What is the most appropriate way to improve driver safety and security services? Finally, I will present test-bed and simulation scenarios for the smart city scenario and connected vehicle services.
Abstract:
Dhananjay Singh is the Director of ReSENSE Lab, and Chair in the Division of Global IT at Hankuk University of Foreign Studies (HUFS) South Korea. He received his BTech degree in Computer Science and Engineering from VBS Purvanchal University, Jaunpur, India in 2003 and MTech degree in Wireless Communication and Computing from Indian Institute of Information Technology (IIIT), Allahabad, India. He received his PhD degree in Ubiquitous IT from Dongseo University (DSU), Busan, South Korea. He is working as a Post Doctor Researcher and Senior Member of Engineering Staff of Future Internet Architecture at National Institute of Mathematical Sciences (NIMS), and Electronics and Telecommunication Research Institute (ETRI), Daejeon, South Korea. He is a Senior Member of IEEE and ACM Society. He has won best paper award for three times from IEEE conferences and two times fellowship award from APAN meeting for Singapore and Manila. He has published 100+ refereed scientific papers, served 100+ TPC membership and delivered 50+ invited talks at the major IEEE conferences/workshop. His research interests focus on the design, analysis and implementation of algorithms/protocols for large-scale data set to solve real-world problems.
Keynote Forum
Andrzej Buchacz
Silesian University of Technology, Poland
Keynote: Power steering system body-modeling and analysis of its vibrations subsystems
Time : 14:30-15:00
Biography:
Andrzej Buchacz has completed his MSc in Eng., (1974), PhD, (1979) and DSc (1992). He was an Academician of the Crimean Academy of Sciences (2011), is a Vice Head of Science of Institute of Engineering Processes Automation and Integrated Manufacturing Processes. He is an author or a co-author over 500 papers - 45 in reputed journals, 18 scientific books, eight promoted doctors. He is a laureate of many national and branch prizes and scientific distinctions. He was the Chairman of 2nd International Conference - Graphs and Mechanic, a Member of the Building Expertise in Science and Technology, Committees of International Conferences (PL, UA, RUS and RU), Machine-Builders International Union, Editorial Board International Journal, Development Technologies and Machine Building Systems (UA) and Machine Dynamics Problems (PL), an Editor in Chief of Publishing House at Silesian University of Technology, a Member of Vibroacoustic and Diagnostics Division of Machines and Systems at Ministry of Science and Information Education and Science, a Fellow of the World Academy of Materials and Manufacturing Engineering.
Abstract:
In the Gliwice Research Centre, the multiple problems of different models of vibrating beam systems analyzed by the structural numbers methods modelled by means of the graphs and hypergraphs have been solved. The discrete - continuous torsionally and flexibly vibrating mechanical and mechatronic systems were considered. In comparison to dynamical flexibilities only for mechanical flexibly vibrating beam, as a part of complex mechanical and/or mechatronic systems, exact method and approximate methods were used. In this paper, the hypergraphs methods have been used for modeling of mechanical subsystems – vibrating beams – of simply mechatronic subsystems of complex mechatronic systems. On the base of the obtained formulas, which were determined by the exact and approximate method, it is possible to make the analysis of the considered vibrating system by only approximate method. Taking into consideration, other boundary conditions of mechanical or mechatronic systems and other kinds of their vibrations, it is necessary to achieve other researches review in this paper. The problems will be presented in future works, because necessary conditions to synthesis of transverse vibrating mechanical or/and complex mechatronic systems must be obtained.
Keynote Forum
Rujeko Masike
Harare Institute of Technology, Zimbabwe
Keynote: Experimental analysis for optimization of a bernoulli principle based climbing robot adhesion system
Time : 15:40-16:00
Keynote Forum
Farinaz Behrooz
Universiti Putra Malaysia, Malaysia
Keynote: FCM-Fuzzy cognitive map (fcm) method for designing intelligent control algorithm on mimo nonlinear systems
Time : 15:00-15:20
Keynote Forum
Hassan Mukhtar
Concordia University, Canada
Keynote: Supplier quality management in global supply chain; risks associated, quality issues, outsourcing, and other issues related with global supply chain
Time : 15:20-15:40
Chair
Andrzej Buchacz
Silesian University of Technology, Poland
Co-Chair
Meenakshi Nadimpalli
Reliable Software Resources Inc, USA
Session Introduction
Farinaz Behrooz
Universiti Putra Malaysia, Malaysia
Title: FCM-Fuzzy cognitive map (fcm) method for designing intelligent control algorithm on mimo nonlinear systems
Time : 15:00-15:20
Biography:
Farinaz Behrooz has completed her PhD in Control and Automation Engineering from Universiti Putra Malaysia, her Master’s degree in Smart Technology and Robotics Engineering and Bachelor’s degree in Electronics Engineering. She has published four papers in reputed journals and has fi led a patent in Malaysia. She has more fi ve papers under revision and modifi cation in reputed journals.
Abstract:
This is a simple technique that can meet the needs of the system purposes like nonlinearity, MIMO, coupling eff ect, uncertainty and complexity. FCM method is the combination of fuzzy systems and neural networks methods which contains the robust properties of both methods. As the structure of FCM has the ability to design the controller based on the needs of the system and what is expected from the system to do, not how it works, it could be a suitable solution for nonlinear MIMO systems. The structure of FCM is a graph structure with simple mathematics based on tendencies or goals of the system. Th erefore, the designing of the controller is not involved with complexity of the system and complex mathematical analysis for deriving the control law. In this study, in control scenario by FCM, the inputs and outputs of the system with other eff ective parameters in the process like actuators could be considered as concepts (MIMO characteristic). Th e nodes are connected to each other based on the relationship or eff ect of them on each other (possible coupling eff ects). Finally, the control signals are applied to the nonlinear dynamic model of the system. Consequently, the nonlinear MIMO controller with simple mathematics and algorithm by considering coupling eff ect could be designed based on soft computing method of FCM in order to apply on nonlinear MIMO systems. Th e benefi ts of FCMs are fast convergence due to the less mathematical calculation and analysis and helping to omit the artifi cial decoupling of variables due to its construction, accordingly the accuracy and sensitivity of control can be increased.
Hassan Mukhtar
Concordia University, Canada
Title: Supplier quality management in global supply chain; risks associated, quality issues, outsourcing, and other issues related with global supply chain
Time : 15:20-15:40
Biography:
Hassan Mukhtar is a PhD student in Information and Systems Engineering at Concordia University. He has immense interest in global supply chain. His articles are published in reputed publications like Research gate, and Inderscience.
Abstract:
The paper is about the supply chain management with respect to quality at global level. Th e issues in supply chain management at global level have been detailed and outlined in the paper. Th e most notable issues have been risks associated, quality issues, outsourcing, and other issues related with global supply chain management. Th e concept has been divided into time phases that start from the time prior to 1990 to present. Th e paper states that integration and collaboration are very important in global Supply chain management issues. In order to be successful and effi cient, the paper proposes that global supply chain management must be integrated, and global perspective must be taken in order to be successful.
Rujeko Masike
Harare Institute of Technology, Zimbabwe
Title: Experimental analysis for optimization of a bernoulli principle based climbing robot adhesion system
Time : 15:40-16:00
Biography:
Rujeko Masike is a PhD Scholar at Amity University in Gurgaon, Haryana, India. She is the Chairperson of the Industrial and Manufacturing Engineering department at Harare Institute of Technology. She has published more than fi ve papers in reputed journals and has been conference chair for two international conferences of repute
Abstract:
Climbing capability is a characteristic that robotic researchers have been intensely pursuing in the last decade for climbing robots. Emphasis has been on minimizing energy expenditure, increasing payload and traversing diff erent wall materials. Using the Bernoulli principle as inspiration, important principles are revealed for reliable maneuvering on vertical structures. An experimental identifi cation of a model for a Bernoulli principle-based holding force is described. To quantitatively evaluate requirements of a Bernoulli pad to achieve attachment on a wall, this paper presents the force analysis and conducts experimental verifi cation for a commercially available Bernoulli pad. By designing and using a test bed, optimal holding force that ensures complete attachment of the pad is defi ned and experimentally verifi ed. Factors that infl uence the holding force such as fl uid media, frictional force, robot state, air speed, height of pad from surface and density variations are experimentally investigated and their causes and eff ects are established. Th e methods proposed in this study are valuable in guiding the design of pneumatics-based adhesion devices such as wall-climbing robots. Th e results from the experiments would then lead to the design of an adaptive force which would enable diff erent fl uid media to be used therefore increasing the versatility of the adhesion system. Th ey would also enable optimization of the Bernoulli principle therefore increasing holding force and payload. Th e cause and eff ect of these parameters were confi rmed through fi nite element analysis using ANSYS and simulation using Matlab.
Biography:
Mustafa Gelen has completed his Mechanical Engineering (2017) at Istanbul Technical University, Turkey. He worked as a Thesis Trainee at Arcelik group at Turkey. He worked as a Manufacturing Tool Design Engineer at Eczacibasi Yapi Urunleri Grubu, Turkey. Currently he is working as a Senior Quality Engineer at Ford Otosan, Turkey
Abstract:
Ford Otosan’s Yeniköy plant, which assembles the transit courier and tourneo courier, has implemented an adaptive image processing system to inspect the vehicle in terms of part presence/absence, vehicle complexity and specifi cation requirement automatically. In the assembly plant, when the vehicle is fi nished, the vehicle goes through customer acceptance line (CAL) for fi nal inspection list of checks to make sure all of the parts are in place, doors fi t properly, wipers work etc., to ensure the vehicle meets engineering specifi cations and customer expectations as a part of quality management system. Th is inspection workfl ow is crucial to eliminate customer complaints, warranty costs and decrease of customer satisfaction. All these checks were being done manually by operators aft er implementing adaptive image processing system, correct exterior trim part availability and specifi cation check have been started to be done automatically. With adaptive image processing system, labor effi ciency has been improved, non-value-added processes have been eliminated and human errors on manual processes have been completely reduced to zero.
Harish Kumar Sahoo
Veer Surendra Sai University of Technology, India
Title: Sparse adaptive fi ltering for wireless channel estimation and equalization
Time : 16:40-17:00
Biography:
Harish Kumar Sahoo is currently working as Associate Professor in the Department of Electronics and Telecommunication Engineering, Veer Surendra Sai University of Technology, Burla, Sambalpur, India. Prior to his present assignment, he had worked for six years in International Institute of Technology, Bhubaneswar, India. He has more than 15 years of teaching and research experiences. He has received his MTech degree from National Institute of Technology, Rourkela, India and PhD from Sambalpur University, India. He is a Senior Member of IEEE and Life Member of ISTE. He has published several journal and conference papers in Elsevier and IEEE. He is an Active Reviewer of IEEE Transaction on instrumentation and measurement, IEEE Transaction on power delivery, Elsevier, Springer as well as Taylor and Francis journal publishing companies. His research interest includes adaptive fi ltering and soft computing applications in wireless communication
Abstract:
Rayleigh’s distribution is mainly used when fading wireless medium does not have proper line of sight (LOS) path and is dominated by a large number of non-line of sight (NLOS) paths due to refl ections of the received signal. Also because of relative motion of the base station and mobile station, a random frequency shift is generally introduced in the carrier, which can be realized in terms of Doppler spread. In case of Rayleigh’s fading channels, generally two critical problems arise in receiver design those are accurate estimations of channel coeffi cients followed by mitigation of channel impairments like inter symbol interference (ISI) and fading in presence of user mobility. Th e accuracy of estimated channel state information (CSI) is really crucial to design robust equalizer for reconstruction of bit sequence and the equalizer performance is aff ected by the fading rate and Doppler spread. Th e main research is oriented towards the exploitation of underlying sparseness of block adaptive fi lters through L0-norm penalty for accurate estimation with stable convergence which helps to design computationally effi cient adaptive models that can be eff ectively used for practical applications. Block and fast block processing can be quite eff ective techniques for outdoor fading wireless environment with proper choice of modulation formats.
Chair
Andrzej Buchacz
Silesian University of Technology, Poland
Co-Chair
Meenakshi Nadimpalli
Reliable Software Resources Inc, USA
Session Introduction
Randika K W Vithanage
Glasgow Caledonian University, UK
Title: A detailed kinematic analysis of a 6-articulated industrial robot
Time : 11:50-12:10
Biography:
Randika K W Vithanage has received his BSc degree in Mechanical Engineering from University of Moratuwa, Sri Lanka in 2010. He is currently a PhD Scholar at Glasgow Caledonian University, where he is awarded a Competitive Scholarship to fund his PhD, he has worked as a Senior Manufacturing Engineer at Toshiba TEC, Singapore where he was recognized as employee of the year and named Inventor on a patent. His research interests include industrial robots, robotic sensing, and manipulation of robots in unstructured environments.
Abstract:
Due largely to the growing emphasis in academic research on industrial robots and their applications, it is oft en required by researchers to understand and examine the kinematic aspect of such robots. Obtaining both forward and inverse kinematic models of a given industrial robot could be a tedious and intricate task. Th erefore, this paper presents a detailed kinematic analysis of a 6-axis industrial robot that commonly found in present-day industry and research laboratories. Th e proposed kinematic solutions have been validated against the simulation soft ware provided by robot’s supplier and an error analysis has been done to ensure the accuracy. Th ere are particular models of robots which are well discussed in the fi eld of robotic research and also within the domain of kinematic analysis. Th e Puma 560 by Unimation, also known as “white rat” of robotics is one of such robots which catalyzed robotic research for decades, and well examined in textbooks and research articles. However, the eminence of such robots is gradually being replaced by modern 6-axis industrial robots. Perhaps due to its size, prize, availability or consideration of health and safety aspects, the Fanuc LR Mate 200iD is becoming increasingly popular in the industry as well as in the research laboratories. Alternatively, there are a limited number of research articles which examine the kinematics of present day industrial robots. Further, the majority of those articles barely discusses the results and lacks the scientifi c validation of proposed solutions. Th erefore, the main focus of this article was to generate and validate the both forward and inverse kinematic models of a popular and modern industrial robot – the Fanuc LR Mate 200iD.
Mi-Ching Tsai
National Cheng Kung University, Taiwan
Title: Active vibration control of piezoelectric self-sensing actuators based on velocity observer
Time : 12:10-12:30
Biography:
Mi-Ching Tsai has completed his PhD in Engineering Science from the University of Oxford UK in 1990. He is currently a Chair Professor at the Department of Mechanical Engineering, National Cheng Kung University, Taiwan. He has authored or coauthored more than 117 journal papers and holds more than 100 patents. His research interests include robust control, servo control, motor design, and applications of advanced control technologies using DSPs. He is a Fellow of the Institution of Engineering and Technology, UK and previously served as an Associate Editor of the IEEE/ASME Transactions on Mechatronics from 2003 to 2007 and the Deputy Minister of the Ministry of Science and Technology, Taiwan from 2016 to 2017.
Abstract:
Piezoelectric self-sensing actuators (SSAs) have been extensively used in vibration control of fl exible structures over the last three decades. Compared to separated sensor/actuator systems, the SSA is simple, robust, and cost-eff ective. According to the literature, the specially designed electric circuit, referred to as a bridge circuit, is required to realize the concept. A method of achieving self-sensing capability without a bridge circuit is proposed by utilizing a velocity observer, and then the vibration velocity of a SSA can be estimated by the measured voltage and current signals. Th us, the SSA active vibration control can be implemented without using a physical velocity sensor to achieve the required vibration suppression based on feedback control design. Th e SSA vibration suppression performance is highly dependent on the equivalent mechanical admittance, which consists of equivalent mass, stiff ness, and damping. Furthermore, the equivalent stiff ness and damping will be directly influenced by the controller parameters. Th us, the SSA vibration suppression performance can be adjusted by the control design. The experimental results show that the proposed method can eff ectively reduce the structural resonance phenomenon when the controller parameters of the SSA are properly designed with a required mechanical admittance.
Michael Truell
Horace Mann School, USA
Title: A universal robotic control system using reinforcement learning with limited feedback
Biography:
Michael Truell is presently at the Horace Mann School in Bronx, NY.
Abstract:
A mobile robot deep reinforcement learning system is created that converges on common robotic tasks using four times less feedback than pre-existing solutions. Th e system achieves this leap in effi ciency through context-aware action selection and aggressive online hyper-parameter optimization while still maintaining performance on embedded hardware. A core algorithm of deep wire fi tted q-learning is supplemented with active measurement of robot uncertainty, defi ned as the derivative of error between expected and received reward. Th is uncertainty value directly scales the temperature of Boltzmann probabilistic exploration policy in addition to the learning rate of stochastic gradient descent. Furthermore, to provide generality across robots and tasks, neural network topology is effi ciently evolved throughout training and evaluation. Finally, experience replay is extended to changing environments and is integrated with our uncertainty value. Human operators successfully trained the system on multiple robots in a matter of minutes to perform tasks such as driving to a point with a diff erential drive system, following a line using holonomic Swedish wheels or playing ping pong with a robot arm. All are without any manual hyperparameter adjustment in both simulation and hardware.
Sergey Mikhailovich Afonin
National Research University of Electronic Technology, Russia
Title: Condition of absolute stability for automatic control system of deformation piezo actuator for nanotechology
Time : 15:00-15:20
Biography:
Sergey Mikhailovich Afonin is an Associate Professor of Department of Intellectual Technical Systems of National Research University of Electronic Technology (Moscow Institute of Electronic Technology MIET). He is a graduate of the National Research University of Electronic Technology MIET, Engineer in Electronic Technology 1976. He has completed his PhD in Electronic Technology Engineering and Control Systems from MIET 1982. He has received academic title of Senior Researcher from MIET 1991. He has received different positions such as: Aspirant MIET 1976–79, Junior Researcher MIET 1979–82, Senior Researcher MIET 1983–93, Associate Professor at MIET since 1993 to present time. He has more than 200 scientifi c papers to professional publication and 16 inventions. He is the Recipient of silver medal and two bronze in VDNKh Russia.
Abstract:
The piezo actuator is using in the automatic control system in the scanning tunneling microscopes, the scanning force microscopes and the atomic force microscopes for the nanotechnology. Th e piezo actuator is the piezo mechanical device intended for the actuation of the mechanisms, the systems or the management based on the piezo eff ect, converts the electrical signals into the mechanical movement and the force. Th e correcting devices are chosen the high quality of the automatic control systems of the deformation the piezo actuator. Th e analytical expressions for the suffi cient absolute stability conditions of the system with the hysteresis nonlinearity of the electro-magneto-elastic actuators are written using the Yakubovich absolute stability criterion with the use of the derivative for the characteristic deformation of the piezo actuator. Th e Yakubovich criterion is the development of the Popov absolute stability criterion. For the stable control system on Lyapunov, the Yalubovich absolute stability criterion for the systems with the single hysteresis nonlinearity provides the simplest and pictorial representation of results of the investigation of the stability and the possibility of the synthesis of the correcting devices of the system ensuring the stability of the strain control systems with the piezo actuator. In the condition of the absolute stability of the control system for the deformation the piezo actuator of the nanomanipulator is used the value of the tangent of the angle of the tangent line to the hysteresis nonlinearity for the piezo actuator. Th e stationary set of the automatic control systems of the deformation the piezo actuator is the segment of the straight line. Th e conditions of the absolute stability of the automatic control systems with the piezo actuator in the case of longitudinal, transverse and shift piezo eff ect for the hysteresis characteristic of deformation of the piezo actuator are obtained. Th e obtained absolute stability condition with the use of the derivative for the characteristic deformation of the piezo actuator for the automatic control system with the piezo actuator allow one to estimate and calculate the characteristics of the correcting devices of the control system of the deformation the piezo actuator.
Jagadeesh Shanmugam Hariharan Natarajan
North Carolina State University, USA
Title: Cognitive vision principle for conceptual learning of colors
Time : 15:20-15:40
Biography:
Jagadeesh Shanmugam Hariharan Natarajan is currently pursuing Master of Science in Industrial Engineering at North Carolina State University and has completed his Bachelor’s in Mechatronics Engineering from Anna University in India. He has spent his last semester of his under-graduate degree working as a Research Assistant at Nanyang Technological University in Singapore, during which he realized how insights from data can make important decision at various circumstances. Hence, he is currently focusing his career on Data Analytics. Also, he has actively participated in the Summer Research Fellowship at Indian Institute of Technology, Madras.
Abstract:
Color is a powerful form of communication among human beings. Sociable robots that live and coexist with humans must also learn colors from the society it lives. A lot of research has been performed to enable computer, as the brain of a robot, to learn colors. Most of them rely on modeling of human color perception and mathematical complexities. Diff erently, this work targets on developing the capability of the computer to use machine learning approaches to learn the colors through human interaction. Th e diff erent colors which is being detected in the camera is processed by using image processing tool OpenCV and the most dominant color of the picture is identifi ed and displayed in the system. Th e user can now teach the computer the difference between the appropriate colors using the RGB values. Th erefore, although at the beginning, the computer does not know any colors, eventually through interaction, it learns numerous colors which will indicate the shared color learning with humans in the society. Aft er teaching the computer a number of times, it is able to classify the colors by matching with RGB values for that particular color from the database. If the color does not exist, the computer identifi es the closest possible color using the unsupervised machine learning technique k-means clustering. Aft er learning colors from the society, the developed algorithm is implemented in the NTU Singaboat, which is an Unmanned Surface Vehicle (USV) built for competing in the Maritime RobotX Challenge.
- Video Presentations
Session Introduction
Bharat Bhargava
Purdue University, USA
Title: Intelligent autonomous systems
Time : 16:00-16:20
Biography:
Bharat Bhargava is a Professor of Computer Science at Purdue University. He is conducting research in security and privacy issues in Service Oriented Architecture (SoA) and Cloud Computing. He has won six best paper awards in addition to the technical achievement award and golden core award from IEEE, and is a fellow of IEEE. He received outstanding Instructor Awards from the Purdue chapter of the ACM in 1996 and 1998. In 2003, he was inducted in the Purdue's Book of Great Teachers. He is Editor-In-Chief of four journals and serves on over ten editorial boards of international journals. He is the Founder of the IEEE Symposium on reliable and distributed systems, IEEE conference on Digital Library, and the ACM Conference on information and knowledge management. He has worked extensively at research laboratories of Air Force and Navy. He has successfully completed several Darpa and Navy STTR and AFRL projects. His recent work on controlled data dissemination in untrusted environments under attacks received the fi rst place in Purdue’s CERIAS Security Center Symposium held in March 2015.
Abstract:
Intelligent Autonomous Systems (IAS) are highly cognitive, refl ective, multitask-able, and eff ective in knowledge discovery. Examples of IAS include soft ware that is capable of automatic reconfi guration, autonomous vehicles, network of sensors with reconfi gurable sensory platforms, and an unmanned aerial vehicle respecting privacy by deciding to turn off its camera when pointing inside a private residence. Research is needed to build systems that can monitor their environment and interactions, learn their capability, and adapt to meet the mission objectives with limited or no human intervention. Th e systems should be fail-safe and should allow for graceful degradations while continuing to meet the mission objectives. Th is presentation will advance the science of autonomy in smart systems through enhancement in real-time control, auto-confi gurability, monitoring, adaptability, trust. I will present research ideas in smart autonomy, Multi-intelligence (MINT) Enterprise Analytics, and Rapid Autonomy prototype among others. Th e main objective is to realize a vision based on the following approaches: Employ machine learning techniques on sensor and provenance data to learn and understand the underlying patterns of interaction, conduct forensics to detect anomalies, and provide assistance in decision making by on-the-fl y semantic and probabilistic reasoning; Apply advanced data analytics techniques to incomplete and hidden raw system data (provenance data, error logs, etc.,) to discover new knowledge that contributes to the success of the IAS mission; Enhance the autonomous system’s self-awareness, self-protection, self-healing, and self-optimization by learning from the knowledge discovered through dataanalytics and Utilizing blockchain technology for storing provenance data for providing monitoring, trust, and verifi cation, using the WaxedPrune system developed for Northrup Grumman.
Fionn Murtagh
Department of Computing and Engineering, University of Huddersfi eld, UK
Title: “The Sciences of the Artificialâ€: Ultrametric topology of complex systems
Biography:
Fionn Murtagh is Professor of Data Science and was Professor of Computer Science, including Department Head, in many universities. Fionn was Editor-in-Chief of the Computer Journal (British Computer Society) for more than 10 years, and is an Editorial Board member of many journals. With over 300 refereed articles and 30 books authored or edited, his fellowships and scholarly academies include: Fellow of: British Computer Society (FBCS), Institute of Mathematics and Its Applications (FIMA), International Association for Pattern Recognition (FIAPR), Royal Statistical Society (FRSS), Royal Society of Arts (FRSA). He has been an Elected Member - Royal Irish Academy (MRIA), Academia - Europaea (MAE), Senior Member - IEEE.
Abstract:
The book with the title, “Th e Sciences of the Artifi cial”, is by Nobel Prize winner in 1978, Simon Herbert. At issue is cognitive processes and analytics from inherent hierarchical system complexity. We may be determining the extent of hierarchical nature and properties, perhaps including or determining evolution along the lines of geneology. First we address how inherently hierarchical various sources of data can be. Considered are time series that are fi nancial, environmental, biomedical, and texts that are from literature, from accident reports, and psychogically related dream reports. Th e use and benefi t of taking hierarchical structure fully into account includes the following: how high dimensional or sparse data become hierarchical, and application can be for proximity and related searching, leading to nearest neighbour regression. But far more than that is ultrametric regression, taking into account the ultrametric topology associated with hierarchical structure. For our cognitive processes and analytics, ultrametric regression is how cognitive and analytical processing determines such system properties for regression purposes. By using contiguity-constrained, i.e. here, chronological, hierarchical clustering, then through multivariate time series, and changepoint analysis, hierarchy expresses changes at varying scales. At issue, quite generally, are multivariate time series. Furthermore, our partitioning of the chronologically constrained hierarchical clustering, so as to segment the multivariate time series, and determine changepoints, this is carried out using a wavelet transform in the ultrametric topological space. Th e case study here, of ultrametric wavelet regression of multivariate time series, is through application to Colombian confl ict analysis.
- Poster Presentations
Session Introduction
Andrzej Wróbel
Silesian University of Technology, Poland
Title: Comparative tests of steering gear made of composite and aluminum alloy
Time : 16:40-17:00
Biography:
Andrzej Wróbel is a Lecturer in the Institute of Engineering Processes Automation and Integrated Manufacturing Systems, Silesian University of Technology. He is a specialist in the design, analysis of mechatronic systems and industrial automation. He is the Head of studies in the fi eld of Automation and Robotics Engineering Processes. He is a Member of the Professional Association in Modern Manufacturing Technologies ModTech Iasi-Romania and International Union of Machine Builders (Donetsk, Ukraine). He is the Manager of Laboratory of Visualization of Mechatronic Systems in the Center of the New Technology of the Silesian Technical University. He is the Editor in Chief of Journal “Selected Engineering Problems”. He is an author or a co-author of more than fi ve monographs and chapters in books and more than 70 articles.
Abstract:
The industry has played an important role for the development of the polish economy for centuries. Th e location of a given industry in a given part of the country depends on such factors as natural resources area, location of sale or a qualifi ed staff . Th e Upper Silesian Industrial District is the largest industrial district of Poland includes industrial companies in the centraleastern part of the Silesian Voivodship. In this area, the automotive industry and companies closely cooperating with this industry are a very strong branch of industry. An example of such cooperation is Nexteer-the leader in the innovative motion control delivery of electric and hydraulic steering systems, steering columns and driveline systems. Th e paper presented in this article attempts to replace standard materials of steering columns such as aluminum with new composite materials. Th e prototype of such a steering column has been done as a part of the research project PBS3/B6/37/2015 (PST-41/RMT2/2015)in cooperation of Nexteer and Institute of Engineering. Processes Automation and Integrated Manufacturing Systems. Faculty of Mechanical Engineering, Silesian University of Technology. Th e main objective of the research was to compare the noise generated during the work of previously manufactured gears and the new innovative gear housing made of composite. Aft er analyzing the fi rst two prototypes of the transmission, we managed to obtain results comparable to the results of the production version. Subsequent research that will be carried out will be related to thermographic studies of transmission subassemblies and assemblies as well as examination of moments and forces generated during transmission operation.
Igor Gorlach
Development of a low-cost automatic guided vehicle (AGV)
Title: Development of a low-cost automatic guided vehicle (AGV)
Time : 17:00-17:20
Biography:
Igor Gorlach has completed his PhD from North-West University in South Africa. He is the Chairperson at General Motors South Africa (GMSA) and Professor of Mechatronics at Nelson Mandela University.
Abstract:
Modern production systems utilize robotic and automation systems including automatic guided vehicles (AGVs) for a variety of material handling tasks. A low-cost AGV was initially designed for an assembly line at General Motors South Africa (GMSA). Th is paper presents the latest development and modifi cations of the AGV design. Th e main research focuses were to improve the AGV performance, simplify the operation and reduce the cost. Th e AGV is used as a tugger, which tows trolley between assembly stations in a pre-designed loop. However, it could also be employed to deliver unique or unusual parts between production lines in a more complex production environment. Th e improved AGV controller is based on a BeagleBone Black, which uses an ARM cortex-A8 processor for navigation, obstacle detection and logic processing. Th e navigation is achieved with a magnetic sensor that follows magnetic tape. Th e ultrasonic sensors are used to develop a safety zone ahead of the AGV to avoid obstacles. Th e proposed AGV design meets the criteria for an effi cient and low-cost autonomous material handling system. Th e developed AGV is capable of transporting tasks in various industrial environments and it can be easily reprogrammed to cater for very specifi c scenarios.
Rosemonica Bezerra De Jesus
University Federal of Bahia, Brazil
Title: Development of a phenomenological model for a battle reactor
Time : 17:20-17:40
Biography:
Rosemonica Bezerra De Jesus is currently in a Master’s degree program for Industrial Engineering and Chemical Engineer at the Federal University of Bahia (UFBA) Brazil. She has experience with projects, research and innovation. She has ability to use process simulators (ASPEN, HYSYS and UNISIM) and other engineering softwares such as MATLAB, AutoCAD and MsProject. In addition, she has knowledge in modeling, simulation, control and optimization of chemical and petrochemical processes.
Abstract:
This article refers to a phenomenological model of a batch reactor. Using an energy balance model it was possible to predict the heating and cooling behavior inside the reactor and how the temperature varies with the applied voltage. Th is work will be used for later emphasis on polymer syntheses, especially the hydrolytic synthesis of caprolactam, in order to obtain a product with a higher value-added market, nylon 6. Given the diffi culty of temperature control when operating with nylon 6, silicone oil (nylon-like characteristics) was used for system testing and data collection. In this way, the system boils down to a heating tank, with heating via electrical resistance. Th us, the focus of the present study will be on modeling the reactor using silicone oil. Th e study will be done obtaining dynamic measurements of temperature in order to be able to present a phenomenological model of the reactor. For the validation of the model, we used data collected in the plant from a steptype test. In this way, this text aims to develop the phenomenological model of the system in order to better understand the dynamics of the heating and thus enable future control studies. Th e model represented a satisfactory behavior of the reactor in question, presenting an average relative error of 4.3%.