New Researcher WP3.9 / WP6.5

José Amendola started as PhD Research Fellow in WP3.9 since January, 17th, 2021, with Associate Professor Ajit Jha as main supervisor and Associate Professor Linga Reddy Cenkeramaddi as co-supervisor. The title of his project is: “Sensor Fusion For Perception, Collision Avoidance And Navigation Towards Autonomous Systems”. He has a MSc degree in Mechatronics Engineering from University of São Paulo, Brazil, 2020 and a BSc in Electrical Engineering also from University of São Paulo, Brazil, 2013, with a year of studies in Robotics field at Karlsruhe Institute of Technology in Germany. His M.Sc. thesis aimed to develop automatic ship navigation in port channels under environmental forces using Reinforcement Learning and maritime simulator. He has also experience in software development, having worked for more than 4 years in a team responsible for a full immersion maritime simulator.

Webinar: Real-time containers

The topic for our webinar on February 4th (13.45-14.15) is real-time containers. The topic will be presented by Florian Hofer which is in his last year of his phd project at Free University of Bozen-Bolzano. His research is related to using (Linux) containers (e.g. Docker) for real-time industrial control applications.

Florian will present some of the motivation for this approach, introduction to important considerations for real-time Linux and containers as well as experimental results. Florian has recently been a visiting researcher in the iCyPhi project co-funded by Siemens, Toyota and Denso. You can find one of his most recent publications here.

Use this link to attend.

Robotlab

The Robotlab has been designed and built as part of SFI Offshore Mechatronics and in particular WP3. The robots was donated by ABB as an in-kind contribution in the project.

The following equipment is available in the lab:

  • 6-axis ABB IRB6600-2.55 Robot
  • 6-akse ABB IRB1400-1.44 Robot

Atle Aalerud and Joacim Dybedal actively used the lab and the equipment as part of their Phd work. We are happy to observe that the lab is also an enabler for new projects and initiatives outside of SFI Offshore Mechatronics. Currently UiA researcher Martin Choux is using the Robotlab to test dismantling discarded battery modules (news story in Norwegian only).

New equipment in WP5.6

New equipment for acoustic emissions and a seal test rig have been designed and installed in relation to WP5. The acoustic emission equipment consists of an AE sensor, preamplifier and one channel of an ASIP-2 (dual channel acoustic signal processor). With this equipment multiple AE signals and features can be measured. The seal test rig shown in the image below is intended to investigate failure mechanisms, detection methods and remaining useful life prediction of the seals for hydraulic cylinders. The test arrangement consists of a pressure chamber connected to an electromechanical cylinder.

For questions concerning the equipment get in touch with WP5 leader Thomas Meyer.

Webinars continue in 2021

In the fall 2020 we scheduled short webinars on Teams every second week. The motivation was initially to compensate for the cancellation of the annual conference and workshop. As a side effect we anticipate that the webinars will also result in increased interaction in the center outside of our major events. We have had good attendance with 15 attendees on average. Attendees is a mix between SFI affiliated researchers, from the industry partners and the mechatronics department at UiA. We will continue with the webinars in 2021 every second Thursday from 13.45-14.15.

The preliminary program for Q1-2021 (subject to change): 21/1: Optimization using brute force on GPU (Geir Hovland, UiA)
4/2: Real-time containers (Florian Hofer, Free University of Bozen-Bolzano) 
18/2: Introduction to Julia programming language (Mattias Fält, Lund University) 
4/3:  Host and Build Your Academic/Professional Portfolio for Free using Hugo and GitLab CI/CD (Sondre S. Tørdal, UiA)  
18/3: ONNX – Open Neural Network Exchange (Fabian Bause, Beckhoff)

The same Teams link will be reused for every webinar. A short intro to each webinar will be published in our webinar page. Get in touch if you have a topic you want to suggest or if you have a topic you want to present yourself in a future webinar.

Accepted Scientific Publications 2021

Summary:

Journal publications: 15
Journal publications (Open Access): 12
Journal publications (Level 2): 7
Conference publications: 3
Total publications: 18

Note: Link to full text either OA = Open Access or PP = ProjectPlace for consortium partners only

Journal Papers:

J1: Thilina N. Weerasinghe, Vicente Casares-Giner, Indika A. M. Balapuwaduge, and Frank Y. Li, “Priority Enabled Grant-Free Access with Dynamic Slot Allocation for Heterogeneous mMTC Traffic in 5G NR Networks,” IEEE Transactions on Communications, May 2021. (Level 2). [OA]

J2: S. Mollaebrahim, B. Beferull-Lozano, “Design of Asymmetric Shift Operators for Efficient Decentralized Subspace Projection” , IEEE Transactions on Signal Processing, Vol. 69, pp. 2056-2069, March 2021. (Level 2) [PP]

J3: Dipendra Subedi, Ilya Tyapin and Geir Hovland: ”Dynamic Modeling of Planar Multi-Link Flexible Manipulators”, MDPI Robotics, May 2021. [OA]

J4: Shanbhag, V. V., T. J. J. Meyer, L. W. Caspers and R. Schlanbusch (2021). Failure Monitoring and Predictive Maintenance of Hydraulic Cylinder – A State of Art Review. IEEE/ASME Transactions on Mechatronics, January 2021. (Level2) [PP]

J5: Shanbhag, V. V., T. J. J. Meyer, L. W. Caspers and R. Schlanbusch (2021). Defining acoustic emission-based condition monitoring indicators for monitoring piston rod seal and bearing wear in hydraulic cylinders. The International Journal of Advanced Manufacturing Technology, May 2021. (Level 2) [OA]

J6: Shaun Falconer, Ellen Nordgård-Hansen, Geir Grasmo, “Remaining useful life estimation of HMPE rope during CBOS testing through machine learning”, Ocean Engineering, Volume 238, October 2021. [OA]

J7: Joacim Dybedal and Geir Hovland, “CNN-based People Detection in Voxel Space using Intensity Measurements and Point Cluster Flattening”, Modeling, Identification and Control, 2021, Vol 42, No. 2, pp. 37-46. [OA]

J8: Savin Viswanathan, Christian Holden, Olav Egeland and Marilena Greco, “An Open-Source Python-Based Boundary-Element Method Code for the Three-Dimensional, Zero-Froude, Infinite-Depth, Water-Wave Diffraction-Radiation Problem”, Modeling, Identification and Control, 2021, Vol 42, No. 2, pp. 47-81. [OA]

J9: Pedersen, J. F., R. Schlanbusch, T. J. J. Meyer, L. W. Caspers and V. V. Shanbhag (2021). Acoustic Emission-Based Condition Monitoring and Remaining Useful Life Prediction of Hydraulic Cylinder Rod Seals. Sensors21(18):6012. [OA]

J10: Holen, Hans K.R. and Sjøberg, Alexander M. and Egeland, Olav, “Estimation of Ship-Deck Motion using LIDAR, Gyroscopes and Cameras”, Modeling, Identification and Control, 2021, Vol 42, No. 3, pp. 99-112. [OA]

J11: A. M. Sjberg and O. Egeland, “Lie Algebraic Unscented Kalman Filter for Pose Estimation,” in IEEE Transactions on Automatic Control. (Level2) [PP]

J12: A. Cibicik and O. Egeland, “Kinematics and Dynamics of Flexible Robotic Manipulators Using Dual Screws,” in IEEE Transactions on Robotics, vol. 37, no. 1, pp. 206-224, Feb. 2021. (Level2) [OA]

J13 Hatledal, Lars Ivar; Chu, Yingguang; Styve, Arne; Zhang, Houxiang, “Vico: An entity-component-system based co-simulation framework”, Simulation Modelling Practice and Theory, Volume 108, April 2021, 102243 [OA]

J14 Ketelsen S, Michel S, Andersen TO, Ebbesen MK, Weber J, Schmidt L. Thermo-Hydraulic Modelling and Experimental Validation of an Electro-Hydraulic Compact Drive. Energies. 2021; 14(9):2375. [OA]

J15: A. Sveier and O. Egeland, “Dual Quaternion Particle Filtering for Pose Estimation,” in IEEE Transactions on Control Systems Technology, vol. 29, no. 5, pp. 2012-2025, Sept. 2021. (Level2) [OA]

Conference Papers:

C1: Kandukuri, S. T., V. V. Shanbhag, T. J. J. Meyer, L. W. Caspers, N. S. Noori, R. Schlanbusch (2021). Automated and Rapid Seal Wear Classification Based on Acoustic Emission and Support Vector Machine. PHM Society European Conference. [OA]

C2: L. M. Lopez, K. Roy, B. Beferull-Lozano, “Explainable nonlinear modelling of multiple time series with invertible neural networks”, International Conference on Intelligent Technologies and Applications (INTAP), 2021.

C3: S. Mollaebrahim, D. Romero and B. Beferull-Lozano, “Fast Decentralized Linear Functions Via Successive Graph Shift Operators,” ICASSP 2021 – 2021 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), 2021, pp. 5255-5259. [PP]

C4: E. Ruiz-Moreno and B. Beferull-Lozano, “Tracking of Quantized Signals Based on Online Kernel Regression,” 2021 IEEE 31st International Workshop on Machine Learning for Signal Processing (MLSP), 2021, pp. 1-6 [PP]