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In the fixed prosthesis process dental prosthesis treatment, the dentist needs to conceive the morphology of the tooth preparation and make numerous micro-adjustments by manual operation. This study aims to establish a digital design system for accurate designing of veneer preparation and study the trajectory planning of the robot-assisted preparation. According to the standard operation requirements, the projection line segmentation method based on point drawing is proposed for interactive selection to ensure the margin smoothness of the preparation area. The preparation depth is parameterized, and the foldback point correction method based on secondary segmentation is used for repairing the offset preparation area to ensure surface smoothness. The fenestration preparation model was obtained in the digital interactive design software. The model is divided into two feature areas which are interpolated by the B-spline curve and NURBS surface, respectively. The isoparametric curve method is used to plan the preparation trajectory. The experimental and theoretical values of the target feature points from the X, Y and Z coordinate directions were also calculated and analyzed. The experiment is carried out by the physical prototype of the tooth preparation robot. The maximum error of the feature points on the preparation are 0.180 mm, 0.104 mm and 0.142 mm in X, Y and Z directions, respectively. The confidence interval of the system error is stable within 0.30 mm. The error of the feature points verifies the feasibility of the digital interactive design system and the correctness of the trajectory planning of tooth veneer preparation. The system could have the potential to assist dentists in the precise design of the veneer preparation, improve the processing efficiency and ensure the effect of tooth veneer prosthesis.

The assembly process of a car body-in-white (BIW) in a body shop is a very important link in complete vehicle manufacturing process, and BIW dimension quality control is the most important part of BIW quality control. The quality-related fixture fault diagnosis problem is proposed in smart dimension control loop [established in BMW Brilliance Automotive company (BBA)] aiming to detect locating fixture fault, which could seriously influence BIW dimension quality. This article introduces a novel statistical quality-related fault diagnosis method by combining Kalman filter and generalized likelihood ratio test, making system innovation as a basic fault diagnosis tool and establishing a hypothesis test between fixture-fault-free model and fixture-faulty model to detect potential fixture fault, meanwhile estimates fixture fault occurred station by maximum likelihood estimate. The fixture fault diagnosis flowchart is built to decrease false and missing alarm rate in actual production process. The case study based on the real BIW component assembly process data from BBA demonstrate that this fault diagnosis method can accurately post fixture fault warning and send correct order to on-site workers to maintain locating fixture in a batch of products. [ABSTRACT FROM AUTHOR]

For nearly a decade, quality-related fault detection algorithms have been widely used in industrial systems. However, the majority of these detection strategies rely on static assumptions of the operating environment. In this paper, taking the time series of variables into consideration, a dynamic kernel entropy component regression (DKECR) framework is proposed to address the instability of quality-related fault detection due to the existing dynamic characteristics. Compared with the typical kernel entropy component analysis method, the proposed method constructs the relationship between process states and quality states to further interpret the direct effect on the product taken by the fault. In the proposed approach, process measurements are converted to a lower-dimensional subspace with a specific angular structure that is more comprehensive than traditional subspace approaches. In addition, the angular statistics and their relevant thresholds are exploited to enhance the quality-related fault detection performance. Finally, the proposed method will be compared with three methods by means of a numerical example and two industrial scenarios to demonstrate its practicality and effectiveness. Note to Practitioners—This paper studies a quality-related fault detection problem for the dynamic nonlinear industrial system. Controlling and measuring the quality state is challenging for the high-level monitoring system of the manufacturing process due to the nonlinear dynamic feature in states. This paper proposes a new data-driven method based on the kernel entropy component analysis method to assess the correlation between the quality and fault in the industrial system, reducing unnecessary overhaul and maintenance. Based on the autoregressive moving average exogenous algorithm, the proposed method captures the dynamic interaction between the process states to decrease false alarms. In the experimental section, the DKECR method outperforms the compared approaches, which can provide stable fault detection results. Additionally, the unique angle structure of the proposed method can supply more information for engineers’ monitoring needs. [ABSTRACT FROM AUTHOR]

In this article, the design of a fourth-harmonic gyrotron with 1-kW-level output power at 1 terahertz (THz) is presented. A unique advantage of this design is that, with a well-optimized magnetic-cusp large-orbit electron gun, the designed gyrotron can operate from first-harmonic to fourth-harmonic in multiple discrete bands by varying the confining magnetic field strength. By carefully balancing the competing modes, the gyrotron can be tuned to operate at six candidate modes, including TE1,2 for fundamental harmonic, TE2,3 and TE2,4 for second-harmonic, TE3,5 and TE3,6 for third-harmonic, and TE4,8 for fourth-harmonic interactions. As the main operating mode, the TE4,8 can generate a peak output power of 1.68 kW, with an output efficiency of about 2.1%, and a magnetically controlled frequency tuning range of about 1.5 GHz around 1 THz. The impact of the longitudinal nonuniformity of the cavity at high-harmonic interaction was also studied. It shows that a radial tolerance of several micrometers will significantly elevate the start-oscillation current and deteriorate output performance. This design is to produce a THz source with ultra-wideband tuning capability ranging from the submillimeter-wave to 1-THz bands. [ABSTRACT FROM AUTHOR]

High-quality axis-encircling electron beam is essential to drive a high-harmonic gyrotron. A magnetic cusp gun that can generate a low-spread axis-encircling electron beam at an extremely high magnetic-compression ratio was developed for a 1-THz fourth-harmonic gyrotron toward continuous-wave operation. The optimized gun could generate an axis-encircling electron beam with 80-kV voltage, 1-A current, and a nearly constant pitch factor of about 1.5 in a wide range of magnetic field strength. The transverse velocity spread was less than 2.1% and the guiding center radius was $26.6 ~\mu \text{m}$. The design was verified by using MAGIC, EGUN, and CST simulations and good agreements were achieved. [ABSTRACT FROM AUTHOR]

This paper studies the fault-tolerant control (FTC) problem for unknown affine nonlinear systems with actuators faults. The considered types of faults are stuck (lock-in-place), loss-in-effectiveness (LIE), and bias, under which a part of the actuators is disabled. The objective is to find the remaining (not fully LIE) actuators, and manipulate them to obtain the best achievable performance in real time. First, considering that the best achievable performance is determined by the remaining actuators, a set of basic policies is predesigned with multiple levels of performances for different groups of activated actuators. Second, an identifier is designed based on history data to find the remaining actuators and, thus, the suitable predesigned basic policy. Third, to further accommodate the partial LIEs and biases, a compensator works together with the selected basic policy, to build the predesigned performance. In addressing the FTC problem, several techniques are developed: adjustable mechanisms are novelly integrated to deal with the state-dependent nonlinearities in neural network (NN) approximation, disturbances, and mismatch errors; history data are newly applied to estimate the faulty parameters; and a compensator is specially designed to deal with LIEs and biases in different input channels. Also in theory, the convergences of algorithms and the stability of closed-loop systems are proved, by formally giving the invariant sets of the initial state and the NN weights. Unlike the existing FTC methods dealing with LIE and bias based on model information to optimize the tracking error, this result can handle stuck faults without knowing system dynamics and satisfy different levels of performances described by Hamilton–Jacobi–Bellman equations. Finally, a simulation example of quadrotor unmanned aerial vehicle is given to verify the effectiveness of the proposed FTC scheme. [ABSTRACT FROM AUTHOR]

The “magnetic window” is considered to be an effective technique for alleviating a vehicle’s atmospheric reentry blackout, whereas the dynamic variation characteristic of the plasma sheath is critical for the vehicle’s communication. In this article, the effects of dynamic plasma sheath on electromagnetic wave propagation and the bit error rate (BER) of two typical modulation signals under an external magnetic field are investigated. First, the hybrid matrix method is used to calculate the transmission coefficients of right-handed circularly polarized (RHCP) waves with different magnetic fields and plasma electron density fluctuation. Then, the average BER of two typical modulations signals, namely M-ary phase-shift keying (MPSK) and noncoherent M-ary frequency shift keying modulation (NC-MFSK) is numerically simulated based on the magnetized plasma sheath channel response. The results show that the magnitude in dB scale and phase of the RHCP transmission coefficient follow Gaussian distribution when the probability density function of the electron density is a Gaussian distribution. The BER performance of binary phase-shift keying (BPSK) and NC-MFSK is relevant to the incident wave frequency, the plasma stopband, and the intensity of electron density variation. Owing to the insensitivity of phase jitter, the NC-8FSK has a better performance than BPSK, followed by NC-4FSK and NC-2FSK. [ABSTRACT FROM AUTHOR]

The integration of segmentation and direct quantification on the left ventricle (LV) from the paired apical views(i.e., apical 4-chamber and 2-chamber together) echo sequence clinically achieves the comprehensive cardiac assessment: multiview segmentation for anatomical morphology, and multidimensional quantification for contractile function. Direct quantification of LV, i.e., to automatically quantify multiple LV indices directly from the image via task-aware feature representation and regression, avoids accumulative error from the inter-step target. This integration sequentially makes a stereoscopical reflection of cardiac activity jointly from the paired orthogonal cross views sequences, overcoming limited observation with a single plane. We propose a K-shaped Unified Network (K-Net), the first end-to-end framework to simultaneously segment LV from apical 4-chamber and 2-chamber views, and directly quantify LV from major- and minor-axis dimensions (1D), area (2D), and volume (3D), in sequence. It works via four components: 1) the K-Net architecture with the Attention Junction enables heterogeneous tasks learning of segmentation task of pixel-wise classification, and direct quantification task of image-wise regression, by interactively introducing the information from segmentation to jointly promote spatial attention map to guide quantification focusing on LV-related region, and transferring quantification feedback to make global constraint on segmentation; 2) the Bi-ResLSTMs distributed in K-Net layer-by-layer hierarchically extract spatial-temporal information in echo sequence, with bidirectional recurrent and short-cut connection to model spatial-temporal information among all frames; 3) the Information Valve tailing the Bi-ResLSTMs selectively exchanges information among multiple views, by stimulating complementary information and suppressing redundant information to make the efficient cross-flow for each view; 4) the Evolution Loss comprehensively guides sequential data learning, with static constraint for frame values, and dynamic constraint for inter-frame value changes. The experiments show that our K-Net gains high performance with a Dice coefficient up to 91.44% and a mean absolute error of the major-axis dimension down to 2.74mm, which reveal its clinical potential. [ABSTRACT FROM AUTHOR]

This paper presents a cooperative fault diagnosis scheme for a class of uncertain nonlinear multiagent systems component and sensor faults in individual agents. Since the faulty system affects the healthy systems through interconnections, for each agent an estimator is designed to collect neighboring output estimations errors to consider its faulty effects on others, when computing its estimations for local state and faulty parameters. A new structure of distributed estimators is proposed by filtering regressor signals and sharing them among agents. Then, the sharings of signals are planned by properly constructing auxiliary graphs for undirected and directed networks. Two conditions are given to preselect estimators parameters for the convergences of the estimation errors. Unlike the existing results dealing with one common parameter with full state measurement and only for undirected graphs, this paper presents an output measurement-based approach for multiple parameters in undirected/directed networks. It shows that for the faults not providing persistent excitation in a signal agent, it is possible to estimate the faults exactly if the they excite all agents persistently. A simulation example of a group of single-link flexible-joint robots is given to verify the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]