Mutual information-enhanced digital twin promotes vision-guided robotic grasping

Hu, Fuwen

doi:10.1016/j.aei.2022.101562

Cited by 19 publications

(10 citation statements)

References 49 publications

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“…Digital twin-embedded CPSs hereby generate a high possibility to reshape the manufacturing processes into a deeply digital and smart paradigm transformation. This requires us to have more interdisciplinary factors than just mechanics, electronics, modeling, and simulation, and informatics in particular should be gathered under the umbrella of cybernetics [32].…”

Section: Digital Twin Modeling Methodsmentioning

confidence: 99%

Digital Twin-Driven Reconfigurable Fixturing Optimization for Trimming Operation of Aircraft Skins

2022

Aerospace

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The incomplete constraint induced by multipoint reconfigurable fixturing and the inherently weak rigidity of thin shell parts significantly hinder the stability of flexible fixturing systems. In particular, during the trimming operation, the number of effective locators may change with the progressive separation of the desired shape from that of the blank part, which easily produces the cliff effect (instantaneous dramatic reduction) of the system stiffness. As a result, the location layout becomes a main crux in reality. Regarding this issue, the author herein presents a digital twin-based decision-making methodology to generate reconfigurable fixturing schemes through integrating virtual and physical information. Considering the intrinsic features of the trimming process, such as the time-varying propagation of the system stiffness and the coupling effects of multiattribute process parameters, the hidden Markov model was introduced to cope with reconfigurable fixturing optimization. To achieve fast convergence and seek a feasible solution, local information (where low system rigidity occurs) was extracted and shared to guide the optimization process in a front-running simulation. To demonstrate the presented method, trimming experiments were performed on a large-size compliant workpiece held by a reconfigurable fixturing system that was developed independently by our research group. The experimental results indicate that the proposed method could adaptively iterate out the optimal locating schema and process control reference from the virtual fixturing and trimming simulation to guarantee the time-varying stability of the trimming process in the real world. Clearly, the digital twin-based reconfigurable fixturing planning approach generated a high possibility of building a context-specific, closed-loop decision-making paradigm and allowing the reconfigurable fixturing system to behave in a more adaptable and flexible manner.

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Section: Digital Twin Modeling Methodsmentioning

confidence: 99%

Digital Twin-Driven Reconfigurable Fixturing Optimization for Trimming Operation of Aircraft Skins

2022

Aerospace

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“…The CPS system, which is made up of the physical and virtual worlds working together, is difficult to fully design from the start. It is meant to provide benefits such as real-time optimization and adaptability [ 32 ]. The idea of a digital twin, which is a real-time digital representation of a physical object, is being explored as a way to better understand and control the CPS system.…”

Section: Concepts Of Digital Twins and The Metaverse In Electrical Dr...mentioning

confidence: 99%

Digital Twin Model of Electric Drives Empowered by EKF

Ebadpour

Jamshidi

Talla

et al. 2023

Sensors

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Digital twins, a product of new-generation information technology development, allows the physical world to be transformed into a virtual digital space and provide technical support for creating a Metaverse. A key factor in the success of Industry 4.0, the fourth industrial revolution, is the integration of cyber–physical systems into machinery to enable connectivity. The digital twin is a promising solution for addressing the challenges of digitally implementing models and smart manufacturing, as it has been successfully applied for many different infrastructures. Using a digital twin for future electric drive applications can help analyze the interaction and effects between the fast-switching inverter and the electric machine, as well as the system’s overall behavior. In this respect, this paper proposes using an Extended Kalman Filter (EKF) digital twin model to accurately estimate the states of a speed sensorless rotor field-oriented controlled induction motor (IM) drive. The accuracy of the state estimation using the EKF depends heavily on the input voltages, which are typically supplied by the inverter. In contrast to previous research that used a low-precision ideal inverter model, this study employs a high-performance EKF observer based on a practical model of the inverter that takes into account the dead-time effects and voltage drops of switching devices. To demonstrate the effectiveness of the EKF digital twinning on the IM drive system, simulations were run using the MATLAB/Simulink software (R2022a), and results are compared with a set of actual data coming from a 4 kW three-phase IM as a physical entity.

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“…Bilberg and Malik [ 84 ] designed a DT of a flexible assembly cell to enable robots to collaborate in assembly tasks. Hu [ 85 ] developed a DT with real-time interactive information gain and visualization templates through bidirectional data flow and real-time optimization to reduce the uncertainty of the sensory-motor processes. Lee et al [ 86 ] developed and tested a DT deep reinforcement learning (DRL) method to explore the potential of DRL for adaptive task assignments in robotic construction environments.…”

Section: The Technical System Of Dtmentioning

confidence: 99%

Systematic review of digital twin technology and applications

Yao

Yang

Wang

et al. 2023

Vis. Comput. Ind. Biomed. Art

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As one of the most important applications of digitalization, intelligence, and service, the digital twin (DT) breaks through the constraints of time, space, cost, and security on physical entities, expands and optimizes the relevant functions of physical entities, and enhances their application value. This phenomenon has been widely studied in academia and industry. In this study, the concept and definition of DT, as utilized by scholars and researchers in various fields of industry, are summarized. The internal association between DT and related technologies is explained. The four stages of DT development history are identified. The fundamentals of the technology, evaluation indexes, and model frameworks are reviewed. Subsequently, a conceptual ternary model of DT based on time, space, and logic is proposed. The technology and application status of typical DT systems are described. Finally, the current technical challenges of DT technology are analyzed, and directions for future development are discussed.

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Mutual information-enhanced digital twin promotes vision-guided robotic grasping

Cited by 19 publications

References 49 publications

Digital Twin-Driven Reconfigurable Fixturing Optimization for Trimming Operation of Aircraft Skins

Digital Twin-Driven Reconfigurable Fixturing Optimization for Trimming Operation of Aircraft Skins

Digital Twin Model of Electric Drives Empowered by EKF

Systematic review of digital twin technology and applications

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