Search Results (38)

Form grinding is a precision machining method for the modified ZI worms, and the grinding accuracy mainly depends on the dressing accuracy of the grinding wheel’s profile. A mathematical model of the modified involute helicoid of ZI worms is established based on the curve superposition method. Subsequently, the normal vector of the tooth surface is derived. After that, space meshing theory and matrix transformation methods are applied. Thus, the meshing equation between the grinding wheel and the tooth surface during the form grinding is constructed. Based on the equal error principle, an interpolation algorithm for the modified involute is proposed. The nonlinear meshing equations are solved using MATLAB R2019b software to obtain the discrete point coordinates of the worm end section profile and the grinding wheel axial section profile. The derivative of the discrete points is calculated by using the difference method, and the motion trajectory of the diamond wheel during the grinding wheel dressing process is solved based on the equidistant curve theory. The proposed methods holds certain reference value for calculating the profile of grinding wheels used in the form grinding of modified ZI worms. Full article

In the face of escalating environmental degradation and dwindling resources, the imperatives of prioritizing environmental protection, and conserving resources have come sharply into focus. Therefore, remanufacturing processing, as the core of remanufacturing, becomes a key step in solving the above problems. However, with the increasing number of failing products and the advent of Industry 5.0, there is a heightened request for remanufacturing in the context of environmental protection. In response to these shortcomings, this study introduces a novel remanufacturing process planning model to address these gaps. Firstly, the failure characteristics of the used parts are extracted by the fault tree method, and the failure characteristics matrix is established by the numerical coding method. This matrix includes both symmetry and asymmetry, thereby reflecting each attribute of each failure feature, and the remanufacturing process is expeditiously generated. Secondly, a multi-objective optimization model is devised, encompassing the factors of time, cost, energy consumption, and carbon emission. This model integrates considerations of failure patterns inherent in used parts and components, alongside the energy consumption and carbon emissions entailed in the remanufacturing process. To address this complex optimization model, an improved teaching–learning-based optimization (TLBO) algorithm is introduced. This algorithm amalgamates Pareto and elite retention strategies, complemented by local search techniques, bolstering its efficacy in addressing the complexities of the proposed model. Finally, the validity of the model is demonstrated by means of a single worm gear. The proposed algorithm is compared with NSGA-III, MPSO, and MOGWO to demonstrate the superiority of the algorithm in solving the proposed model. Full article

Remanufacturing cost is a key factor for making decisions on the remanufacturing of used electromechanical devices in the construction sector. Though, remanufacturing costs can vary significantly due to the diversity of quality characteristics, even for the same type of used electromechanical devices. To realize the prediction of the remanufacturing cost for used electromechanical devices relevant to construction, this paper proposes a semi-supervised remanufacturing cost prediction method based on quality characteristics. First, we establish a semi-supervised least squares support vector regression (SLSSVR) model. Then, a novel variable neighborhood search (VNS) algorithm is designed for SLSSVR parameter tuning and optimizing. To verify the performance of the VNS-SLSSVR, we provide three types of simulated examples and conduct a real case study on predicting the remanufacturing cost of used turbine worms. The experimental results show that the proposed methods are of high accuracy and reliability with a limited number of labeled samples and a substantial quantity of unlabeled ones. Full article

This study focuses on the slewing and vibration suppression of flexible single-link manipulators. While extensive research has been conducted on such systems, few studies have experimentally validated their theoretical models. To address this gap, an experimental setup is developed, connecting the flexible link to a zero-backlash worm gear and further attaching it to the rotor shaft of the AC servomotor. The worm gear’s characteristics isolate the link’s vibrations from the rotor’s angular motion, enabling independent design of the vibration controller and slewing control. This approach facilitates simultaneous accurate trajectory tracking and vibration suppression. An active vibration control algorithm is implemented based on an accurate dynamic model. This research encompasses dynamic modeling, slewing control, and vibration control for the system. Theoretical predictions are compared with experimental results to validate both the theoretical model and the proposed vibration control algorithm. Full article

Seaweed foreign object detection has become crucial for food consumption and industrial use. This process not only can prevent potential health issues, but also maintain the overall marketability of seaweed production in the food industry. Traditional methods of inspecting seaweed foreign objects heavily rely on human judgment, which deals with large volumes with diverse impurities and can be inconsistent and inefficient. An automation system for real-time seaweed foreign object detection in the inspection process should be adopted. However, automated seaweed foreign object detection has several challenges due to its dependency on visual input inspection, such as an uneven surface and undistinguishable impurities. In fact, limited access to advanced technologies and high-cost equipment would also influence visual input acquisition, thereby hindering the advancement of seaweed foreign object detection in this field. Therefore, we introduce a computer vision model utilizing a deep learning-based algorithm to detect seaweed impurities and classify the samples into ‘clean’ and ‘unclean’ categories. In this study, we managed to identify six types of seaweed impurities including sand sticks, shells, discolored seaweed, grass, worm shells, and mixed impurities. We collected 1204 images and our model’s performance was thoroughly evaluated based on comparisons with three pre-trained models, i.e., Yolov8, ResNet, and MobileNet. Our experiment shows that Yolov8 outperforms the other two models with an accuracy of 98.86%. This study also included the development of an Android application to validate the deep learning engine to ensure its optimal performance. Based on our experiments, the mobile application managed to classify 50 pieces of seaweed samples within 0.2 s each, showcasing its potential use in large-scale production lines and factories. This research demonstrates the impact of Artificial Intelligence on food safety by offering a scalable and efficient solution that can be deployed in other food production processes facing similar challenges. Our approach paves the way for broader industry adoption and advancements in automated foreign object detection systems by optimizing detection accuracy and speed. Full article

This paper presents a novel three-dimensional (3D) minimally actuated serial robot (MASR) and its unique kinematic analysis. Unlike traditional robots, the 3D MASR features a passive arm devoid of wires or motors, comprising passive rotational and prismatic joints. A single mobile actuator (MA) traverses the arm, engages designated joints for operation, and locks them in place with a worm gear setup. A gripper is attached to the MA, enabling object transportation along the arm, reducing joint actuation, and optimizing task completion time. Our key contributions include the mechanical design, and in particular the robot’s passive joints with their automated actuation mechanism, and a novel optimization algorithm leveraging neural networks (NNs) to minimize task completion time through advanced kinematic analysis. Experiments with a physical prototype of the 3D MASR demonstrate its major advantages: it is remarkably lightweight (2.3 kg for a 1 m long arm and a 1 kg payload) compared to similar robots; it is highly modular (five joints R and P actuated by a single MA); and part replacement is effortless due to the absence of wiring along the arm. These features are visually depicted in the accompanying video. Full article

The detection of faults during an operational process constitutes a crucial objective within the framework of developing a control system to monitor the structure of industrial mechanisms. Even minor faults can give rise to significant consequences that require swift resolution. This research investigates the impact of overtension in the tooth belt transmission and heating of the screw transmission worm on the vibration signals in a robotic system. Utilizing FFT techniques, distinct frequency characteristics associated with different faults were identified. Overtension in the tooth belt transmission caused localized oscillations, addressed by adjusting the acceleration and deceleration speeds. Heating of the screw transmission worm led to widespread disturbances affecting servo stress and positioning accuracy. A fuzzy logic algorithm based on spectral analysis was proposed for adaptive control, considering the vibration’s frequency and amplitude. The simulation results demonstrated effective damage mitigation, reducing wear on the mechanical parts. The diagnostic approach, relying on limited data, emphasized the feasibility of identifying transmission damage, thereby minimizing maintenance costs. This research contributes a comprehensive and adaptive solution for robotic system diagnostics and control, with the proposed fuzzy logic algorithm showing promise for efficient signal processing and machine learning applications. Full article

The cluster technique involves the creation of clusters and the selection of a cluster head (CH), which connects sensor nodes, known as cluster members (CM), to the CH. The CH receives data from the CM and collects data from sensor nodes, removing unnecessary data to conserve energy. It compresses the data and transmits them to base stations through multi-hop to reduce network load. Since CMs only communicate with their CH and have a limited range, they avoid redundant information. However, the CH’s routing, compression, and aggregation functions consume power quickly compared to other protocols, like TPGF, LQEAR, MPRM, and P-LQCLR. To address energy usage in wireless sensor networks (WSNs), heterogeneous high-power nodes (HPN) are used to balance energy consumption. CHs close to the base station require effective algorithms for improvement. The cluster-based glow-worm optimization technique utilizes random clustering, distributed cluster leader selection, and link-based routing. The cluster head routes data to the next group leader, balancing energy utilization in the WSN. This algorithm reduces energy consumption through multi-hop communication, cluster construction, and cluster head election. The glow-worm optimization technique allows for faster convergence and improved multi-parameter selection. By combining these methods, a new routing scheme is proposed to extend the network’s lifetime and balance energy in various environments. However, the proposed model consumes more energy than TPGF, and other protocols for packets with 0 or 1 retransmission count in a 260-node network. This is mainly due to the short INFO packets during the neighbor discovery period and the increased hop count of the proposed derived pathways. Herein, simulations are conducted to evaluate the technique’s throughput and energy efficiency. Full article

Seed quality affects crop yield and the quality of agricultural products, and traditional identification methods are time-consuming, complex, and irreversibly destructive. This study aims to establish a fast, non-destructive, and effective approach for defect detection in maize seeds based on hyperspectral imaging (HSI) technology combined with deep learning. Raw spectra collected from maize seeds (200 each healthy and worm-eaten) were pre-processed using detrending (DE) and multiple scattering correction (MSC) to highlight the spectral differences between samples. A convolutional neural network architecture (CNN-FES) based on a feature selection mechanism was proposed according to the importance of wavelength in the target classification task. The results show that the subset of 24 feature wavelengths selected by the proposed CNN-FES can capture important feature information in the spectral data more effectively than the conventional successive projections algorithm (SPA) and competitive adaptive reweighted sampling (CARS) algorithms. In addition, a convolutional neural network architecture (CNN-ATM) based on an attentional classification mechanism was designed for one-dimensional spectral data classification and compared with three commonly used machine learning methods, linear discriminant analysis (LDA), random forest (RF), and support vector machine (SVM). The results show that the classification performance of the designed CNN-ATM on the full wavelength does not differ much from the above three methods, and the classification accuracy is above 90% on both the training and test sets. Meanwhile, the accuracy, sensitivity, and specificity of CNN-ATM based on feature wavelength modeling can reach up to 97.50%, 98.28%, and 96.77% at the highest, respectively. The study shows that hyperspectral imaging-based defect detection of maize seed is feasible and effective, and the proposed method has great potential for the processing and analysis of complex hyperspectral data. Full article

Currently, practical optimisation models and intelligent solution algorithms for solving disassembly sequence planning are attracting more and more attention. Based on the importance of energy efficiency in product disassembly and the trend toward green remanufacturing, this paper proposes a new optimisation model for the energy-efficient disassembly sequence planning. The minimum energy consumption is used as the evaluation criterion for disassembly efficiency, so as to minimise the energy consumption during the dismantling process. As the proposed model is a complex optimization problem, called NP-hard, this study develops a new extension of the whale optimisation algorithm to allow it to solve discrete problems. The whale optimisation algorithm is a recently developed and successful meta-heuristic algorithm inspired by the behaviour of whales rounding up their prey. We have improved the whale optimisation algorithm for predation behaviour and added a local search strategy to improve its performance. The proposed algorithm is validated with a worm reducer example and compared with other state-of-the-art and recent metaheuristics. Finally, the results confirm the high solution quality and efficiency of the proposed improved whale algorithm. Full article

Deep Convolutional Neural Networks (CNNs) represent the state-of-the-art artificially intelligent computing models for image classification. The advanced cognition and pattern recognition abilities possessed by humans are ascribed to the intricate and complex neurological connection in human brains. CNNs are inspired by the neurological structure of the human brain and show performance at par with humans in image recognition and classification tasks. On the lower extreme of the neurological complexity spectrum lie small organisms such as insects and worms, with simple brain structures and limited cognition abilities, pattern recognition, and intelligent decision-making abilities. However, billions of years of evolution guided by natural selection have imparted basic survival instincts, which appear as an “intelligent behavior”. In this paper, we put forward the evidence that a simple algorithm inspired by the behavior of a beetle (an insect) can fool CNNs in image classification tasks by just perturbing a single pixel. The proposed algorithm accomplishes this in a computationally efficient manner as compared to the other adversarial attacking algorithms proposed in the literature. The novel feature of the proposed algorithm as compared to other metaheuristics approaches for fooling a neural network, is that it mimics the behavior of a single beetle and requires fewer search particles. On the contrary, other metaheuristic algorithms rely on the social or swarming behavior of the organisms, requiring a large population of search particles. We evaluated the performance of the proposed algorithm on LeNet-5 and ResNet architecture using the CIFAR-10 dataset. The results show a high success rate for the proposed algorithms. The proposed strategy raises a concern about the robustness and security aspects of artificially intelligent learning systems. Full article

In order to enhance the environmental adaptability of peristaltic soft-bodied pipe robots, based on the nonlinear and hyperelastic characteristics of silicone rubber combined with the biological structure and motion characteristics of worms, a hexagonal prism soft-bodied bionic actuator is proposed. The actuator adopts different inflation patterns to produce different deformations, so that the soft-bodied robot can realize different motion modes in the pipeline. Based on the Yeoh binomial parameter silicone rubber constitutive model, the deformation analysis model of the hexagonal prism soft-bodied bionic actuator is established, and the numerical simulation algorithm is used to ensure both that the drive structure and deformation mode are reasonable, and that the deformation analysis theoretical model is accurate. The motion and dynamic characteristics of the prepared hexagonal prism soft-bodied bionic actuator are tested and analyzed, the motion and dynamic characteristic curves of the actuator are obtained, and the empirical deformation formula of the actuator is fitted. The experimental results are consistent with the deformation analysis model and numerical simulation result, which shows that the deformation analysis model and numerical simulation method are accurate and can provide design methods and reference basis for the development of a pneumatic soft-bodied body bionic actuator. The above research results can also prove that the hexagonal prism soft-bodied bionic actuator is reasonable and feasible. Full article

We provide a detailed description of the path-integral Monte Carlo worm algorithm used to exactly calculate the thermodynamics of Bose systems in the canonical ensemble. The algorithm is fully consistent with periodic boundary conditions, which are applied to simulate homogeneous phases of bulk systems, and it does not require any limitation in the length of the Monte Carlo moves realizing the sampling of the probability distribution function in the space of path configurations. The result is achieved by adopting a representation of the path coordinates where only the initial point of each path is inside the simulation box, the remaining ones being free to span the entire space. Detailed balance can thereby be ensured for any update of the path configurations without the ambiguity of the selection of the periodic image of the particles involved. We benchmark the algorithm using the non-interacting Bose gas model for which exact results for the partition function at finite number of particles can be derived. Convergence issues and the approach to the thermodynamic limit are also addressed for interacting systems of hard spheres in the regime of high density. Full article

Smart grid technology has given users the ability to regulate their home energy use more efficiently and effectively. Home Energy Management (HEM) is a difficult undertaking in this regard, as it necessitates the optimal scheduling of smart appliances to reduce energy usage. In this research, we introduce a metaheuristic-based HEM system which incorporates Earth Worm Algorithm (EWA) and Harmony Search Algorithms (HSA). In addition, a hybridization based on the EWA and HSA operators is used to optimize energy consumption in terms of electricity cost and Peak-to-Average Ratio (PAR) reduction. Hybridization has been demonstrated to be beneficial in achieving many objectives at the same time. Extensive simulations in MATLAB were used to test the performance of the proposed hybrid technique. The simulations were run for multiple homes with multiple appliances, which were categorized according to the usage and nature of the appliance, taking advantage of appliance scheduling in terms of the time-varying retail pricing enabled by the smart grid two-way communication infrastructure algorithms EWA and HSA, along with a Real-Time Price scheme. These techniques helped us to find the best usage pattern for energy consumption to reduce electricity costs. These metaheuristic techniques efficiently reduced and shifted the load from peak hours to off-peak hours and reduced electricity costs. In comparison to HSA, the simulation results suggest that EWA performed better in terms of cost reduction. In comparison to EWA and HSA, HSA was more efficient in terms of PAR. However, the proposed hybrid approach EHSA gave the maximum reduction in cost which was 2.668%, 2.247%, and 2.535% in the case of 10, 30, and 50 homes, respectively, as compared to EWA and HSA. Full article

Underwater wireless sensor networks (UWSNs) comprise numerous underwater wireless sensor nodes dispersed in the marine environment, which find applicability in several areas like data collection, navigation, resource investigation, surveillance, and disaster prediction. Because of the usage of restricted battery capacity and the difficulty in replacing or charging the inbuilt batteries, energy efficiency becomes a challenging issue in the design of UWSN. Earlier studies reported that clustering and routing are considered effective ways of attaining energy efficacy in the UWSN. Clustering and routing processes can be treated as nondeterministic polynomial-time (NP) hard optimization problems, and they can be addressed by the use of metaheuristics. This study introduces an improved metaheuristics-based clustering with multihop routing protocol for underwater wireless sensor networks, named the IMCMR-UWSN technique. The major aim of the IMCMR-UWSN technique is to choose cluster heads (CHs) and optimal routes to a destination. The IMCMR-UWSN technique incorporates two major processes, namely the chaotic krill head algorithm (CKHA)-based clustering and self-adaptive glow worm swarm optimization algorithm (SA-GSO)-based multihop routing. The CKHA technique selects CHs and organizes clusters based on different parameters such as residual energy, intra-cluster distance, and inter-cluster distance. Similarly, the SA-GSO algorithm derives a fitness function involving four parameters, namely residual energy, delay, distance, and trust. Utilization of the IMCMR-UWSN technique helps to significantly boost the energy efficiency and lifetime of the UWSN. To ensure the improved performance of the IMCMR-UWSN technique, a series of simulations were carried out, and the comparative results reported the supremacy of the IMCMR-UWSN technique in terms of different measures. Full article