It is always an important and challenging issue to achieve an effective fault diagnosis in rotating machinery in industries. In recent years, deep learning proved to be a high-accuracy and reliable method for data-based fault detection. However, the training of deep learning algorithms requires a large number of real data, which is generally expensive and time-consuming. To cope with this, we proposed a Resnet classifier with model-based data augmentation, which is applied for bearing fault detection. To this end, a dynamic model was first established to describe the bearing system by adjusting model parameters, such as speed, load, fault size, and the different fault types. Large amounts of data under various operation conditions can then be generated. The training dataset was constructed by the simulated data, which was then applied to train the Resnet classifier. In addition, in order to reduce the gap between the simulation data and the real data, the envelop signals were used instead of the original signals in the training process. Finally, the effectiveness of the proposed method was demonstrated by the real bearing experimental data. It is remarkable that the application of the proposed method can be further extended to other mechatronic systems with a deterministic dynamic model.

Legal knowledge involves multidimensional heterogeneous knowledge such as legal provisions, judicial interpretations, judicial cases, and defenses, which requires extremely high relevance and accuracy of knowledge. Meanwhile, the construction of a legal knowledge reasoning system also faces challenges in obtaining, processing, and sharing multisource heterogeneous knowledge. The knowledge graph technology, which is a knowledge organization form with triples as the basic unit, is able to efficiently transform multisource heterogeneous information into a knowledge representation form close to human cognition. Taking the automated construction of the Chinese legal knowledge graph (CLKG) as a case scenario, this paper presents a joint knowledge enhancement model (JKEM), where prior knowledge is embedded into a large language model (LLM), and the LLM is fine-tuned through the prefix of the prior knowledge data. Under the condition of freezing most parameters of the LLM, this fine-tuning scheme adds continuous deep prompts as prefix tokens to the input sequences of different layers, which can significantly improve the accuracy of knowledge extraction. The results show that the knowledge extraction accuracy of the JKEM in this paper reaches $90.92\%$. Based on the superior performance of this model, the CLKG is further constructed, which contains 3480 knowledge triples composed of 9 entities and 2 relationships, providing strong support for an in-depth understanding of the complex relationships in the legal field.

Maintenance decision-making is essential to achieve safe and reliable operation with high performance for equipment. To avoid unexpected shutdown and increase machine life as well as system efficiency, it is fundamental to design an effective maintenance decision-making scheme for equipment. In this paper, we propose a novel maintenance decision-making method for equipment based on Long Short-Term Memory (LSTM) and Markov decision process, which can provide specific maintenance strategies in different degradation stages of the system. Specifically, the LSTM model is firstly applied to predict the remaining service life of equipment to distinguish its health state quantitatively. Then, based on the bearing residual life prediction curve, the degradation process model is constructed, and the corresponding parameters of the model are identified. Finally, the bearing degradation curve is obtained by the degradation process model, based on which the Markov decision process model is constructed to provide accurate maintenance strategies for different health conditions of system. To demonstrate the effectiveness of the proposed method, an experimental study with the full life cycle data set of rolling bearings is carried out. The experimental results show that the proposed method can achieve efficient maintenance decisions for bearings under different health states, which provides a feasible solution for the maintenance of bearing systems.

With the rapid development of information and automation technology, the manufacturing system is evolving towards more complexity and integration. The system components will inevitably suffer from degeneration, and the impact of component-level failure on the system reliability is a valuable issue to be studied, especially when failure dependence exists among the components. Thus, it is vital to construct a system reliability evaluation mechanism that helps to characterize the healthy status of the system and facilitate wise decision making. In this paper, a reliability analysis framework for a failure-dependent system is proposed, in which copula functions with optimized parameters are used for the description of different failure correlations, and a fuzzy inference model is constructed to derive the subsystem reliability based on the component-level failure correlation. Finally, a Bayesian network is applied to infer the system reliability based on the system structure combined with the impact of failure correlation inside. Simulation results of the proposed method show that the inference results of system reliability are reasonable and effective in different cases. Compared with the copula Bayesian network method, the proposed method shows better adaptability to failure-dependent systems to varying degrees. This work can provide theoretical guidance for evaluating the reliability of manufacturing systems of different types.

The collaborative robot can complete various drilling tasks in complex processing environments thanks to the high flexibility, small size and high load ratio. However, the inherent weaknesses of low rigidity and variable rigidity in robots bring detrimental effects to surface quality and drilling efficiency. Effective online monitoring of the drilling quality is critical to achieve high performance robotic drilling. To this end, an end-to-end drilling-state monitoring framework is developed in this paper, where the drilling quality can be monitored through online-measured vibration signals. To evaluate the drilling effect, a Canny operator-based edge detection method is used to quantify the inclination state of robotic drilling, which provides the data labeling information. Then, a robotic drilling inclination state monitoring model is constructed based on the Resnet network to classify the drilling inclination states. With the aid of the training dataset labeled by different inclination states and the end-to-end training process, the relationship between the inclination states and vibration signals can be established. Finally, the proposed method is verified by collaborative robotic drilling experiments with different workpiece materials. The results show that the proposed method can effectively recognize the drilling inclination state with high accuracy for different workpiece materials, which demonstrates the effectiveness and applicability of this method.

In robot grinding tasks, dual manipulators possess improved flexibility, which can cooperate to complete different tasks with higher efficiency and satisfactory effect. In collaborative robot grinding tasks, the critical issues lie in the motion trajectory planning of the two manipulators and trajectory tracking with satisfactory accuracy under the condition that the two manipulator ends apply force on each other. In order to accomplish the goals in a more concise and feasible way, a complete scheme for dual-arm robot grinding tasks is essential. To address this issue, taking the motion trajectory planning and impedance control into consideration, a novel scheme for dual manipulators to complete collaborative grinding tasks is presented in this paper. To this end, a dual-arm grinding system is first constructed, and the kinematic constraints in the cooperative motion are analyzed, based on which the motion trajectories of the dual manipulators are planned according to the grinding task objectives. Then, an impedance controller is designed to achieve accurate tracking of the motion trajectory in the grinding process. Finally, dual-arm collaborative simulations and grinding experiments are carried out, and the results show that the proposed method can achieve good motion results and better flexibility compared to the single-arm motion, which demonstrates the effectiveness of the proposed method.