Extracting typical operational scenarios is essential for making flexible decisions in the dispatch of a new power system. This study proposed a novel deep time series aggregation scheme (DTSAs) to generate typical operational scenarios, considering the large amount of historical operational snapshot data. Specifically, DTSAs analyze the intrinsic mechanisms of different scheduling operational scenario switching to mathematically represent typical operational scenarios. A gramian angular summation field (GASF) based operational scenario image encoder was designed to convert operational scenario sequences into high-dimensional spaces. This enables DTSAs to fully capture the spatiotemporal characteristics of new power systems using deep feature iterative aggregation models. The encoder also facilitates the generation of typical operational scenarios that conform to historical data distributions while ensuring the integrity of grid operational snapshots. Case studies demonstrate that the proposed method extracted new fine-grained power system dispatch schemes and outperformed the latest high-dimensional featurescreening methods. In addition, experiments with different new energy access ratios were conducted to verify the robustness of the proposed method. DTSAs enables dispatchers to master the operation experience of the power system in advance, and actively respond to the dynamic changes of the operation scenarios under the high access rate of new energy.

The emergence of abundant electricity time series (ETS) data provides ample opportunities for various applications in the power systems, including demand-side management, grid stability, and consumer behavior analysis. Deep learning models have advanced ETS modeling by effectively capturing sequence dependence. Nevertheless, learning a generic representation of ETS data for various applications remains challenging due to the inherently complex hierarchical structure of ETS data. Moreover, ETS data exhibits intricate temporal dependencies and is suscepti ble to the influence of exogenous variables. Furthermore, different instances exhibit diverse electricity consumption behavior. In this paper, we propose a foundation model PowerPM to model ETS data, providing a large-scale, off-the-shelf model for power systems. PowerPM consists of a temporal encoder and a hierarchical encoder. The temporal encoder captures both temporal dependencies in ETS data, considering exogenous variables. The hierarchical encoder models the correlation between hierarchy. Furthermore, PowerPM leverages a novel self-supervised pretraining framework consisting of masked ETS modeling and dual-view contrastive learning, which enable PowerPM to capture temporal dependency within ETS windows and aware the discrepancy across ETS windows, providing two different perspectives to learn generic representation. Our experiments involve five real world scenario datasets, comprising private and public data. Through pre-training on massive ETS data, PowerPM achieves SOTA performance on diverse downstream tasks within the private dataset. Impressively, when transferred to the public datasets, PowerPM maintains its superiority, showcasing its remarkable generalization ability across various tasks and domains. Moreover, ablation studies, few-shot experiments provide additional evidence of the effectiveness of our model.

This paper presents a learning based planner for computing optimized 3D printing toolpaths on prescribed graphs, the challenges of which include the varying graph structures on different models and the large scale of nodes & edges on a graph. We adopt an on-the-fly strategy to tackle these challenges, formulating the planner as a Deep Q-Network (DQN) based optimizer to decide the next `best' node to visit. We construct the state spaces by the Local Search Graph (LSG) centered at different nodes on a graph, which is encoded by a carefully designed algorithm so that LSGs in similar configurations can be identified to re-use the earlier learned DQN priors for accelerating the computation of toolpath planning. Our method can cover different 3D printing applications by defining their corresponding reward functions. Toolpath planning problems in wire-frame printing, continuous fiber printing, and metallic printing are selected to demonstrate its generality. The performance of our planner has been verified by testing the resultant toolpaths in physical experiments. By using our planner, wire-frame models with up to 4.2k struts can be successfully printed, up to 93.3% of sharp turns on continuous fiber toolpaths can be avoided, and the thermal distortion in metallic printing can be reduced by 24.9%.

The integration of Computer-Aided Design (CAD), Computer-Aided Process Planning (CAPP), and Computer-Aided Manufacturing (CAM) plays a crucial role in modern manufacturing, facilitating seamless transitions from digital designs to physical products. However, a significant challenge within this integration is the Automatic Feature Recognition (AFR) of CAD models, especially in the context of hybrid manufacturing that combines subtractive and additive manufacturing processes. Traditional AFR methods, focused mainly on the identification of subtractive (machined) features including holes, fillets, chamfers, pockets, and slots, fail to recognize features pertinent to additive manufacturing. Furthermore, the traditional methods fall short in accurately extracting geometric dimensions and orientations, which are also key factors for effective manufacturing process planning. This paper presents a novel approach for creating a synthetic CAD dataset that encompasses features relevant to both additive and subtractive machining through Python Open Cascade. The Hierarchical Graph Convolutional Neural Network (HGCNN) model is implemented to accurately identify the composite additive-subtractive features within the synthetic CAD dataset. The key novelty and contribution of the proposed methodology lie in its ability to recognize a wide range of manufacturing features, and precisely extracting their dimensions, orientations, and stock sizes. The proposed model demonstrates remarkable feature recognition accuracy exceeding 97% and a dimension extraction accuracy of 100% for identified features. Therefore, the proposed methodology enhances the integration of CAD, CAPP, and CAM within hybrid manufacturing by providing precise feature recognition and dimension extraction. It facilitates improved manufacturing process planning, by enabling more informed decision-making.

Various machine learning (ML)-based in-situ monitoring systems have been developed to detect laser additive manufacturing (LAM) process anomalies and defects. Multimodal fusion can improve in-situ monitoring performance by acquiring and integrating data from multiple modalities, including visual and audio data. However, multimodal fusion employs multiple sensors of different types, which leads to higher hardware, computational, and operational costs. This paper proposes a cross-modality knowledge transfer (CMKT) methodology that transfers knowledge from a source to a target modality for LAM in-situ monitoring. CMKT enhances the usefulness of the features extracted from the target modality during the training phase and removes the sensors of the source modality during the prediction phase. This paper proposes three CMKT methods: semantic alignment, fully supervised mapping, and semi-supervised mapping. Semantic alignment establishes a shared encoded space between modalities to facilitate knowledge transfer. It utilizes a semantic alignment loss to align the distributions of the same classes (e.g., visual defective and audio defective classes) and a separation loss to separate the distributions of different classes (e.g., visual defective and audio defect-free classes). The two mapping methods transfer knowledge by deriving the features of one modality from the other modality using fully supervised and semi-supervised learning. The proposed CMKT methods were implemented and compared with multimodal audio-visual fusion in an LAM in-situ anomaly detection case study. The semantic alignment method achieves a 98.4% accuracy while removing the audio modality during the prediction phase, which is comparable to the accuracy of multimodal fusion (98.2%).

This paper advances a novel architectural schema anchored upon the Transformer paradigm and innovatively amalgamates the K-means categorization algorithm to augment the contextual apprehension capabilities of the schema. The transformer model performs well in machine translation tasks due to its parallel computing power and multi-head attention mechanism. However, it may encounter contextual ambiguity or ignore local features when dealing with highly complex language structures. To circumvent this constraint, this exposition incorporates the K-Means algorithm, which is used to stratify the lexis and idioms of the input textual matter, thereby facilitating superior identification and preservation of the local structure and contextual intelligence of the language. The advantage of this combination is that K-Means can automatically discover the topic or concept regions in the text, which may be directly related to translation quality. Consequently, the schema contrived herein enlists K-Means as a preparatory phase antecedent to the Transformer and recalibrates the multi-head attention weights to assist in the discrimination of lexis and idioms bearing analogous semantics or functionalities. This ensures the schema accords heightened regard to the contextual intelligence embodied by these clusters during the training phase, rather than merely focusing on locational intelligence.

Wire Arc Additive Manufacturing (WAAM) is a metal 3D printing technology that deposits molten metal wire on a substrate to form desired geometries. Articulated robot arms are commonly used in WAAM to produce complex geometric shapes. However, they mostly rely on proprietary robot and weld control software that limits process tuning and customization, incorporation of third-party sensors, implementation on robots and weld controllers from multiple vendors, and customizable user programming. This paper presents a general open-source software architecture for WAAM that addresses these limitations. The foundation of this architecture is Robot Raconteur, an open-source control and communication framework that serves as the middleware for integrating robots and sensors from different vendors. Based on this architecture, we developed an end-to-end robotic WAAM implementation that takes a CAD file to a printed WAAM part and evaluates the accuracy of the result. The major components in the architecture include part slicing, robot motion planning, part metrology, in-process sensing, and process tuning. The current implementation is based on Motoman robots and Fronius weld controller, but the approach is applicable to other industrial robots and weld controllers. The capability of the WAAM tested is demonstrated through the printing of parts of various geometries and acquisition of in-process sensor data for motion adjustment.

The presence of gas pores in metal feedstock powder for additive manufacturing greatly affects the final AM product. Since current porosity analysis often involves lengthy X-ray computed tomography (XCT) scans with a full rotation around the sample, motivation exists to explore methods that allow for high throughput -- possibly enabling in-line porosity analysis during manufacturing. Through labelling pore pixels on single 2D radiographs of powders, this work seeks to simulate such future efficient setups. High segmentation accuracy is achieved by combining a model of X-ray attenuation through particles with a variant of the widely applied UNet architecture; notably, F1-score increases by $11.4\%$ compared to the baseline UNet. The proposed pore segmentation is enabled by: 1) pretraining on synthetic data, 2) making tight particle cutouts, and 3) subtracting an ideal particle without pores generated from a distance map inspired by Lambert-Beers law. This paper explores four image processing methods, where the fastest (yet still unoptimized) segments a particle in mean $0.014s$ time with F1-score $0.78$, and the most accurate in $0.291s$ with F1-score $0.87$. Due to their scalable nature, these strategies can be involved in making high throughput porosity analysis of metal feedstock powder for additive manufacturing.

Vertebrate animals benefit from a combination of rigidity for structural support and softness for adaptation. Similarly, integrating rigidity and softness can enhance the versatility of soft robotics. However, the challenges associated with creating durable bonding interfaces between soft and rigid materials have limited the development of hybrid robots. Existing solutions require specialized machinery, such as polyjet 3D printers, which are not commonly available. In response to these challenges, we have developed a 3D printing technique that can be used with almost all commercially available FDM printers. This technique leverages the common issue of underextrusion to create a strong bond between soft and rigid materials. Underextrusion generates a porous structure, similar to fibrous connective tissues, that provides a robust interface with the rigid part through layer fusion, while the porosity enables interlocking with the soft material. Our experiments demonstrated that this method outperforms conventional adhesives commonly used in soft robotics, achieving nearly 200\% of the bonding strength in both lap shear and peeling tests. Additionally, we investigated how different porosity levels affect bonding strength. We tested the technique under pressure scenarios critical to soft and hybrid robots and achieved three times more pressure than the current adhesion solution. Finally, we fabricated various hybrid robots using this technique to demonstrate the wide range of capabilities this approach and hybridity can bring to soft robotics. has context menu

Recently, vision-based tactile sensors (VBTSs) have gained popularity in robotics systems. The sensing mechanisms of most VBTSs can be categorised based on the type of tactile features they capture. Each category requires specific structural designs to convert physical contact into optical information. The complex architectures of VBTSs pose challenges for traditional manufacturing techniques in terms of design flexibility, cost-effectiveness, and quality stability. Previous research has shown that monolithic manufacturing using multi-material 3D printing technology can partially address these challenges. This study introduces the CrystalTac family, a series of VBTSs designed with a unique sensing mechanism and fabricated through rapid monolithic manufacturing. Case studies on CrystalTac-type sensors demonstrate their effective performance in tasks involving tactile perception, along with impressive cost-effectiveness and design flexibility. The CrystalTac family aims to highlight the potential of monolithic manufacturing in VBTS development and inspire further research in tactile sensing and manipulation.