Developing a Digital Twin Framework for Monitoring the Trajectory of the UR10 Robot Using an Extended Kalman Filter DOI

Ramy Alham,

Moncef Hammadi

Published: Nov. 3, 2023

In the era of modern robotics and Industry 4.0, integrating advanced state estimation techniques with digital twin technology is crucial for enhancing robotic system performance safety. This study presents a pioneering Digital Twin framework to monitor trajectory Universal Robots' UR10 arm. We address challenges such as uncertainties, sensor noise, environmental factors by combining Kalman Filter-based approach. By creating virtual replica that accurately mimics UR10's physical properties dynamics, our method enables realtime tracking prediction robot's states, improving control operational efficiency. The incorporates kinematics dynamics compute Jacobian matrix EKF estimation. Through extensive simulations, we demonstrate significant increase in accuracy position (approximately 90.14%) velocity 85.10%) estimations after introducing noise robot simulation. approach paves way strategies, fault detection systems, testing platforms industries like manufacturing, healthcare, research, where precision are critical.

Language: Английский

A Systematic Review of the Digital Transformation of the Building Construction Industry DOI Creative Commons
Khalid K. Naji, Murat Gündüz, Fahid Hamad Alhenzab

et al.

IEEE Access, Journal Year: 2024, Volume and Issue: 12, P. 31461 - 31487

Published: Jan. 1, 2024

Construction sector spending makes a significant contribution to the global economy, with approximately $10 trillion being spent on building and construction activities annually. However, industry has traditionally been perceived as slow adapt new technologies compared other sectors. Recently, experienced substantial shift towards Digital Transformation. As have emerged, begun realize importance of Transformation in pre-construction, construction, facility management phases. A high degree seen regarding site monitoring, wearables, sensors, identifying hazards. This paper intends sketch picture digital implemented throughout entire project lifecycle. By fully analyzing more than 200 papers, finds that various aspects industry, including technologies, policies, regulations, infrastructures, are still early stages The findings from this review will help researchers practitioners understand technology implementation where stands process. also serves starting point for future work industry. research is limited vertical projects does not include horizontal integration. Finally, study give guideline successful examples which used specific phases, so can get holistic view use environment.

Language: Английский

Citations

29
Metaverse and Medical Diagnosis: A Blockchain-Based Digital Twinning Approach Based on MobileNetV2 Algorithm for Cervical Vertebral Maturation DOI Creative Commons
Omid Moztarzadeh, Mohammad Jamshidi, Saleh Sargolzaei

et al.

Diagnostics, Journal Year: 2023, Volume and Issue: 13(8), P. 1485 - 1485

Published: April 20, 2023

Advanced mathematical and deep learning (DL) algorithms have recently played a crucial role in diagnosing medical parameters diseases. One of these areas that need to be more focused on is dentistry. This why creating digital twins dental issues the metaverse practical effective technique benefit from immersive characteristics this technology adapt real world dentistry virtual world. These technologies can create facilities environments for patients, physicians, researchers access variety services. Experiencing an interaction between doctors patients another considerable advantage technologies, which dramatically improve efficiency healthcare system. In addition, offering amenities through blockchain system enhances reliability, safety, openness, ability trace data exchange. It also brings about cost savings improved efficiencies. paper, twin cervical vertebral maturation (CVM), critical factor wide range surgery, within blockchain-based platform designed implemented. A DL method has been used automated diagnosis process upcoming CVM images proposed platform. includes MobileNetV2, mobile architecture improves performance models multiple tasks benchmarks. The twinning simple, fast, suitable physicians specialists, as well adapting Internet Medical Things (IoMT) due its low latency computing costs. important contributions current study use DL-based computer vision real-time measurement so does not require additional sensors. Furthermore, comprehensive conceptual framework based MobileNetV2 ecosystem implemented, showing applicability suitability introduced approach. high model collected small dataset demonstrates low-cost diagnosis, anomaly detection, better design, many applications representations. shows how performed developed with lowest hardware infrastructures, reducing costs treatment patients.

Language: Английский

Citations

39
A Super-Efficient GSM Triplexer for 5G-Enabled IoT in Sustainable Smart Grid Edge Computing and the Metaverse DOI Creative Commons
Mohammad Jamshidi, Salah I. Yahya, Leila Nouri

et al.

Sensors, Journal Year: 2023, Volume and Issue: 23(7), P. 3775 - 3775

Published: April 6, 2023

Global concerns regarding environmental preservation and energy sustainability have emerged due to the various impacts of constantly increasing demands climate changes. With advancements in smart grid, edge computing, Metaverse-based technologies, it has become apparent that conventional private power networks are insufficient meet demanding requirements industrial applications. The unique capabilities 5G, such as numerous connections, high reliability, low latency, large bandwidth, make an excellent choice for grid services. 5G network industry will heavily rely on Internet Things (IoT) progress, which act a catalyst development future grid. This comprehensive platform not only include communication infrastructure but also Metaverse platforms. Therefore, optimizing IoT is crucial achieve sustainable computing network. paper presents design, fabrication, evaluation super-efficient GSM triplexer 5G-enabled Metaverse. component intended operate at 0.815/1.58/2.65 GHz physical layout our new, presented first time this work. overall size 0.007 λg2, smallest compared previous works. proposed very insertion losses 0.12 dB, 0.09 0.42 dB first, second, third channels, respectively. We achieved minimum triplexers. Additionally, common port return (RLs) were better than 26 all channels.

Language: Английский

Citations

30
Cyber-physical systems: a bibliometric analysis of literature DOI
Nitin Singh, Prabin Kumar Panigrahi, Zuopeng Zhang

et al.

Journal of Intelligent Manufacturing, Journal Year: 2024, Volume and Issue: unknown

Published: April 29, 2024

Language: Английский

Citations

9
Digital twins for building industrial metaverse DOI Creative Commons
Zhihan Lyu, Mikael Fridenfalk

Journal of Advanced Research, Journal Year: 2023, Volume and Issue: 66, P. 31 - 38

Published: Nov. 24, 2023

The concept of the metaverse, a virtual world where users can interact with computer-generated environment, has received significant attention recently.

Language: Английский

Citations

19
A High-Efficiency Diplexer for Sustainable 5G-Enabled IoT in Metaverse Transportation System and Smart Grids DOI Open Access
Mohammad Jamshidi, Salah I. Yahya, Leila Nouri

et al.

Symmetry, Journal Year: 2023, Volume and Issue: 15(4), P. 821 - 821

Published: March 29, 2023

Symmetry is essential in the design of complex systems like Metaverse Transportation Sys-tem (MTS) and helps ensure that all components work together effectively. In development a microstrip diplexer for 5G-enabled IoT MTS, maintaining symmetry crucial to achieving flat responses with low group delays. By integrating transportation technology Metaverse, System can greatly improve effectiveness intellect reality. To establish dependable network, it include Internet Things (IoT) sensor networks sustainable focuses on efficiency energy conservation. A three-channel lowpass-bandpass has been developed MTS implementation. Multi-channel designs are rare due process, but this very compact at only 0.004 λg2. All channels have delays 0.34 ns, 1.7 ns lower, middle, upper passbands, respectively. The lowpass channel cut-off frequency 1.22 GHz, suitable mid-band 5G applications. Compared previous work, achieves smallest size, lowest delay, insertion return losses lower channel. It consists section connected band-pass filter analyzed mathematically, its performance verified through simulation measurement good accuracy.

Language: Английский

Citations

18
Digital Twinning of a Magnetic Forging Holder to Enhance Productivity for Industry 4.0 and Metaverse DOI Open Access
Omid Khalaj, Mohammad Jamshidi,

Parsa Hassas

et al.

Processes, Journal Year: 2023, Volume and Issue: 11(6), P. 1703 - 1703

Published: June 2, 2023

The concept of digital twinning is essential for smart manufacturing and cyber-physical systems to be connected the Metaverse. These representations physical objects can used real-time analysis, simulations, predictive maintenance. A combination manufacturing, Industry 4.0, Metaverse lead sustainable productivity in industries. This paper presents a practical approach implementing twins magnetic forging holder that was designed manufactured this project. Thus, makes two important contributions: first contribution holder, second significant creation its twin. benefits from special design implementation, making it user-friendly powerful tool materials research. More specifically, employed thermomechanical influencing structure and, hence, final properties under development. In addition, mechanism allows us produce new type creep-resistant composite material based on Fe, Al, Y. consolidates powder form solid state after mechanical alloying. We bars components using suitable process which extreme grain coarsening occurs heat treatment. one conditions achieving very high resistance creep at temperatures.

Language: Английский

Citations

15
A Digital Twinning Approach for the Internet of Unmanned Electric Vehicles (IoUEVs) in the Metaverse DOI Open Access
Mohsen Ebadpour, Mohammad Jamshidi, Jakub Talla

et al.

Electronics, Journal Year: 2023, Volume and Issue: 12(9), P. 2016 - 2016

Published: April 26, 2023

Regarding the importance of Internet Things (IoT) and Metaverse as two practical emerging technologies to enhance digitalization public transportation systems, this article introduces an approach for improvement IoT unmanned electric vehicles in Metaverse, called Unmanned Electric Vehicles (IoUEVs). This research includes important contributions. The first contribution is description a framework how can be used second creation digital twin vehicle. In section, which focus research, we present electronic differential system (EDS) stability has been improved. Robust fuzzy logic algorithm-based speed controllers are employed EDS independently control EV wheels driven by high-performance brushless DC (BLDC) motors. study, rotor position information motors, estimated from low-precision Hall-effect sensors mounted on motors’ shafts, combined converted set common switching signals empowering vehicle traction drive system. proposed relies accurate Hall sensor signals-based synchronizing/locking strategy with dynamic steering pattern capable running severe road conditions different surface profiles ensure EV’s stability. Unlike recent EDSs, twinning simple topology no need auxiliary infrastructures, able reduce mechanical losses stresses adapted IoUEVs more effectively.

Language: Английский

Citations

12
Tool Wear Monitoring In Micro-Milling Based on Digital Twin Technology with an Extended Kalman Filter DOI Creative Commons

Christiand Christiand,

Gandjar Kiswanto, Ario Sunar Baskoro

et al.

Journal of Manufacturing and Materials Processing, Journal Year: 2024, Volume and Issue: 8(3), P. 108 - 108

Published: May 23, 2024

In order to avoid catastrophic events that degrade the quality of machined products, such as tool breakage, it is vital have a prognostic system for monitoring wear during micro-milling process. Despite long history field, creating track, monitor, and foresee rapid progression still needs be improved in application micro-milling. On other hand, digital twin technology has recently become widely recognized significant manufacturing and, notably, within Industry 4.0 ecosystem. Digital considered potential breakthrough developing system, enables tracking, monitoring, prediction dynamics twinned object, e.g., CNC machine tool. However, few works explored particularly field. This paper presents novel machining based on an extended Kalman filter framework. The proposed provides notifications assist user making decisions related evaluation using four datasets slot micro-milling, achieved maximum error mean 0.038 mm from actual value. brings promising opportunity widen utilization with framework seamless data integration service.

Language: Английский

Citations

4
Digital shadow of an electric vehicle‐permanent magnet synchronous motor drive for real‐time performance monitoring DOI Creative Commons
Mahmoud Ibrahim, Viktor Rjabtšikov, Anton Rassõlkin

et al.

Digital twins and applications., Journal Year: 2025, Volume and Issue: unknown

Published: Jan. 7, 2025

Abstract Digital twin (DT) technology has been utilised in many applications including electric vehicles (EVs). A DT is a virtual representation of physical object, enabled through real‐time data integration, simulation, and optimisation tools. Unlike conventional simulations, which are typically offline lack interaction, continuously synchronises with the system, enabling dynamic performance monitoring predictive analytics. Achieving full involves progressive stages, digital shadow (DS) being final step before realising bidirectional DT. Building DS provides scalable fault detection framework, proactive decision‐making EV operations. This study introduces system specifically designed to monitor permanent magnet synchronous motor (PMSM) drive EVs, marking critical phase towards complete The methodology for creating detailed, establishment comprehensive test bench powertrain as reference model. mathematical model EV‐PMSM was formulated, an advanced estimation utilising extended Kalman filter (EKF) implemented. MATLAB/Simulink employed develop motor’s Real‐time acquisition from facilitated (DAS) equipped controller area network (CAN) communication interface. underwent thorough validation against sensory collected bench. deployed framework flow actual during real‐world driving conditions. results demonstrated high accuracy 97% between predictions corresponding data, confirming DS’s reliability. These findings pave way future advancements, interaction realisation

Language: Английский

Citations

0