Model Predictive Path Planning of AGVs: Mixed Logical Dynamical Formulation and Distributed Coordination

Most of the existing path planning methods of automated guided vehicles (AGVs) are static. This paper proposes a new methodology for the path planning of a fleet of AGVs to improve the flexibility, robustness, and scalability of the AGV system. We mathematically describe the transport process as a dynamical system using an ad hoc mixed...

Lightweight and Accurate DNN-Based Anomaly Detection at Edge

Deep neural networks (DNNs) have been showing significant success in various anomaly detection applications such as smart surveillance and industrial quality control. It is increasingly important to detect anomalies directly on edge devices, because of high responsiveness requirements and tight latency constraints. The accuracy of DNN-based...

Distributed Model Predictive Contouring Control for Real-Time Multi-Robot Motion Planning

Existing motion planning algorithms for multi-robot systems must be improved to address poor coordination and increase low real-time performance. This paper proposes a new distributed real-time motion planning method for a multi-robot system using Model Predictive Contouring Control (MPCC). MPCC allows separating the tracking accuracy and...

Fatigue crack initiation prediction using phantom nodes-based extended finite element method for S355 and S690 steel grades

The assessment of fatigue crack initiation behavior of steel structures is essential and important especially to improve the application of high strength steel in construction. For a complete understanding of fatigue endurance, it is necessary to combine the phenomenological damage model with finite element numerical approach. In this paper,...

Long-Term Behaviour of Railway Crossings: Wheel-Rail Interaction and Rail Fatigue Life Prediction

Railway turnouts are important components of railway infrastructure as they provide flexibility and guidance to the rail traffic. Because of geometrical discontinuities in the crossing area of the turnouts, high impact forces due to passing wheels acting on the crossing nose can occur. In the field, severe rail damage problems are found in...