mechatronics with machine learning (+ deep...
TRANSCRIPT
Mechatronics with Machine Learning
04/10/2017
Prof. Seungchul Lee
(+ Deep Learning)
Introduction
• Since 2013 July: UNIST
– iSystems Design Lab.
• 2010, Ph.D. from the University of Michigan, Ann Arbor
– S. M. Wu Manufacturing Research Center
– The Center of Intelligent Maintenance Systems (IMS)
• 2007, M.S. from the University of Michigan, Ann Arbor
• 2005, B.S. of Electrical Engineering from Seoul National University
• 2001, B.S. of Mechanical Engineering from Seoul National University
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My Research Areas
• Mechatronics (mechanics + electronics)– Undergraduate can do this with fun
– Robotics
– Hardware + coding
– Circuit + digital logic + signal processing + control
• Machine Learning and Deep Learning– A level of graduate study
– New research field for mechanical engineering
– Will bring lots of potentials
– Math + coding
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Arduino and Raspberry Pi
• Open-source platform used for building electronics projects
• Micro-controller/micro-computer
• Physical computing
• Easy to use even for non-professionals
• Maker Faire
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Physical Computing: Sensors and Actuators
• Sensor: allow the microcontroller to receive information about the environment
• Actuator: devices that cause something to happen in the physical world
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Flex Sensor and Servo Motor
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Sensors + Actuators + Microcontroller
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3D Printed Prototype
Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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(Industrial) Robot Arms
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Robot Arms
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1 2 3
Kinematics
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• “Introduction to Robotics” Course in Mechanical Engineering
Robot Playing Piano
• Inverse kinematics
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Delta Robot
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Inverse Kinematics of Parallel Manipulator
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work space
Dancing Robot with Signal Processing
• Dancing with music (rule-based and -programmed)
• Signal processing (FFT)
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Multi-Agent System
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• Wireless network
• Internet of Things
• Control strategy
• Cooperation
• 국립부산과학관전시예정
Mobility: Mecanum Wheel
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Mobile Delta Robot
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Idol Robot Group (?)
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• Korean idol girl groups
• Dance with changing formation
• Mobile: position and orientation control
• Localization + Robot Navigation (→ self driving car)
Robot and Light
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Control: PID
• Require more advanced system design
• From open-loop to closed-loop systems
• 코딩으로어떻게구현하는지는대부분모른다
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Inverted Pendulum
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• A famous control problem
• Feedback control: – angle from encoder command to servo motor
Ball and Plate
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• Position Feedback: vision in the loop– Location identification via Computer Vision
Drone and Dynamics
• Quadcopter
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(Simpler) Unicopter
• Angle from encoder
• DC motor
Drone Control
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• Drifting Issue: Hovering and Tracking via vision
• Aerial Surveillance & Monitoring, Observation with Drone
Reinforcement Learning
• Require more advanced control scheme– State space representation
– Optimized control scheme (LQR)
– Deep learning (reinforcement learning): totally different approach
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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New Concept: Cyber-Physical System (CPS)
• Physical and virtual components are deeply intertwined
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Augmented Reality (AR) and Virtual Reality (VR)
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(Big) Data InformationIntelligence
• Signal Processing (DSP) • Data Analytics
• Machine Learning and Deep Learning
Machines
Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Noise Reduction (Smoothing)
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Detection of Abrupt Changes
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Vibration Issue on SRT High Speed Train
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Vibration Issue on SRT High Speed Train
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Measured Data: SRT
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Measured Data: KTX
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Kalman Filter
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Robot Playing Piano
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Robot Playing Piano
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How to Make Robots Intelligent
• It was programmed by users
• From music notes to autonomously playing– Artificial Intelligence from Computer Science
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Perception with deep learning
Machine Learning for Machine Intelligence
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Classification
Regression
Clustering Dim reduction
Deep Learning for Machine Intelligence
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CNN
RNN
Web-based Monitoring Dashboard
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Probability of Classification
normal
unbalance
misalignment
Motor in Robot
• Load (anomaly) generation– Anomaly is induced through manual press
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Demo for Unsupervised Learning
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Th
reshold
Anomaly Detection
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normal abnormal
Anomaly Detection
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normal abnormal
Data Science and Analytics in Engineering
• Industrial 4.0
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Plant and facility Manufacturing
Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Convolutional Neural Networks (CNN)
• 이미지분류에서높은성능을보인 CNN 기법을진동신호기반결함진단에사용제안
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Training Data
Feature Extraction Classification
DiagnosticsDeep Learning
CNN on STFT Image
• 기본 CNN구조를활용하기위하여신호를이미지화 (STFT spectrogram)
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STFT image
signal
Dimension Reduction
• Principal Component Analysis (PCA)– Dim reduction without losing too much information
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u1
u2
1
1
2
xu
x
Dimension Reduction
• PCA in time signals
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Provide compressed representations
Deep Learning: Autoencoder
Tutorials on Deep Learning
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Today
• Physical Computing
• Kinematics in Robotics
• Parallel Manipulator (Delta Robots)
• Dynamics and Control
• Cyber-Physical Systems (CPS)
• Signal Processing
• Intelligence with Machine Learning
• Deep Learning
• Epilog
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Failure, Success and the drive to keep Creating
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Failure, Success and the drive to keep Creating
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Version 1 Version 2
http://isystems.unist.ac.kr/
All materials (codes + hardware design) are available
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