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The work in modern open-pit and underground mines requires the transportation of large amounts of resources between fixed points. The navigation to these fixed points is a repetitive task that can be automated. The challenge in automating the navigation of vehicles commonly used in mines is the systemic properties of such vehicles. Many mining vehicles, such as the one we have used in the research for this paper, use steering systems with an articulated joint bending the vehicle’s drive axis to change its course and a hydraulic drive system to actuate axial drive components or the movements of tippers if available. To address the difficulties of controlling such a vehicle, we present a model-predictive approach for controlling the vehicle. While the control optimisation based on a parallel error minimisation of the predicted state has already been established in the past, we provide insight into the design and implementation of an MPC for an articulated mining vehicle and show the results of real-world experiments in an open-pit mine environment.
This paper addresses the pixel based recognition of 3D objects with bidirectional associative memories. Computational power and memory requirements for this approach are identified and compared to the performance of current computer architectures by benchmarking different processors. It is shown, that the performance of special purpose hardware, like neurocomputers, is between one and two orders of magnitude higher than the performance of mainstream hardware. On the other hand, the calculation of small neural networks is performed more efficiently on mainstream processors. Based on these results a novel concept is developed, which is tailored for the efficient calculation of bidirectional associative memories. The computational efficiency is further enhanced by the application of algorithms and storage techniques which are matched to characteristics of the application at hand.
This paper addresses the pixel based classification of three dimensional objects from arbitrary views. To perform this task a coding strategy, inspired by the biological model of human vision, for pixel data is described. The coding strategy ensures that the input data is invariant against shift, scale and rotation of the object in the input domain. The image data is used as input to a class of self organizing neural networks, the Kohonen-maps or self-organizing feature maps (SOFM). To verify this approach two test sets have been generated: the first set, consisting of artificially generated images, is used to examine the classification properties of the SOFMs; the second test set examines the clustering capabilities of the SOFM when real world image data is applied to the network after it has been preprocessed to be invariant against shift, scale and rotation. It is shown that the clustering capability of the SOFM is strongly dependant on the invariance coding of the images.
Aim of the AXON2 project (Adaptive Expert System for Object Recogniton using Neuml Networks) is the development of an object recognition system (ORS) capable of recognizing isolated 3d objects from arbitrary views. Commonly, classification is based on a single feature extracted from the original image. Here we present an architecture adapted from the Mixtures of Eaqerts algorithm which uses multiple neuml networks to integmte different features. During tmining each neural network specializes in a subset of objects or object views appropriate to the properties of the corresponding feature space. In recognition mode the system dynamically chooses the most relevant features and combines them with maximum eficiency. The remaining less relevant features arz not computed and do therefore not decelerate the-recognition process. Thus, the algorithm is well suited for ml-time applications.
A capacitive electrolyte-insulator-semiconductor (EISCAP) biosensor modified with Tobacco mosaic virus (TMV) particles for the detection of acetoin is presented. The enzyme acetoin reductase (AR) was immobilized on the surface of the EISCAP using TMV particles as nanoscaffolds. The study focused on the optimization of the TMV-assisted AR immobilization on the Ta 2 O 5 -gate EISCAP surface. The TMV-assisted acetoin EISCAPs were electrochemically characterized by means of leakage-current, capacitance-voltage, and constant-capacitance measurements. The TMV-modified transducer surface was studied via scanning electron microscopy.
An interdisciplinary view on humane interfaces for digital shadows in the internet of production
(2022)
Digital shadows play a central role for the next generation industrial internet, also known as Internet of Production (IoP). However, prior research has not considered systematically how human actors interact with digital shadows, shaping their potential for success. To address this research gap, we assembled an interdisciplinary team of authors from diverse areas of human-centered research to propose and discuss design and research recommendations for the implementation of industrial user interfaces for digital shadows, as they are currently conceptualized for the IoP. Based on the four use cases of decision support systems, knowledge sharing in global production networks, human-robot collaboration, and monitoring employee workload, we derive recommendations for interface design and enhancing workers’ capabilities. This analysis is extended by introducing requirements from the higher-level perspectives of governance and organization.
The fourth industrial revolution presents a multitude of challenges for industries, one of which being the increased flexibility required of manufacturing lines as a result of increased consumer demand for individualised products. One solution to tackle this challenge is the digital twin, more specifically the standardised model of a digital twin also known as the asset administration shell. The standardisation of an industry wide communications tool is a critical step in enabling inter-company operations. This paper discusses the current state of asset administration shells, the frameworks used to host them and their problems that need to be addressed. To tackle these issues, we propose an event-based server capable of drastically reducing response times between assets and asset administration shells and a multi-agent system used for the orchestration and deployment of the shells in the field.
Image reconstruction analysis for positron emission tomography with heterostructured scintillators
(2022)
The concept of structure engineering has been proposed for exploring the next generation of radiation detectors with improved performance. A TOF-PET geometry with heterostructured scintillators with a pixel size of 3.0×3.1×15 mm3 was simulated using Monte Carlo. The heterostructures consisted of alternating layers of BGO as a dense material with high stopping power and plastic (EJ232) as a fast light emitter. The detector time resolution was calculated as a function of the deposited and shared energy in both materials on an event-by-event basis. While sensitivity was reduced to 32% for 100 μm thick plastic layers and 52% for 50 μm, the CTR distribution improved to 204±49 ps and 220±41 ps respectively, compared to 276 ps that we considered for bulk BGO. The complex distribution of timing resolutions was accounted for in the reconstruction. We divided the events into three groups based on their CTR and modeled them with different Gaussian TOF kernels. On a NEMA IQ phantom, the heterostructures had better contrast recovery in early iterations. On the other hand, BGO achieved a better contrast to noise ratio (CNR) after the 15th iteration due to the higher sensitivity. The developed simulation and reconstruction methods constitute new tools for evaluating different detector designs with complex time responses.