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Martin Servin

Publications and source records attributed to Martin Servin.

32 records · Page 2Linked to original sources
arXiv2021

Digital twins with distributed particle simulation for mine-to-mill material tracking

Systems for transport and processing of granular media are challenging to analyse, operate and optimise. In the mining and mineral processing industries these systems are chains of processes with complex interplay between the equipment, control, and the processed material. The material properties have natural variations that are usually only known at certain locations. Therefore, we explore a material-oriented approach to digital twins with a particle representation of the granular media. In digital form, the material is treated as pseudo-particles, each representing a large collection of real particles of various sizes, shapes and, mineral properties. Movements and changes in the state of the material are determined by the combined data from control systems, sensors, vehicle telematics, and simulation models at locations where no real sensors can see. The particle-based representation enables material tracking along the chain of processes. Each digital particle can act as a carrier of observational data generated by the equipment as it interacts with the real material. This makes it possible to better learn material properties from process observations, and to predict the effect on downstream processes. We test the technique on a mining simulator and demonstrate analysis that can be performed using data from cross-system material tracking.

cs.CE↗
arXiv2021

Reinforcement Learning Control of a Forestry Crane Manipulator

Forestry machines are heavy vehicles performing complex manipulation tasks in unstructured production forest environments. Together with the complex dynamics of the on-board hydraulically actuated cranes, the rough forest terrains have posed a particular challenge in forestry automation. In this study, the feasibility of applying reinforcement learning control to forestry crane manipulators is investigated in a simulated environment. Our results show that it is possible to learn successful actuator-space control policies for energy efficient log grasping by invoking a simple curriculum in a deep reinforcement learning setup. Given the pose of the selected logs, our best control policy reaches a grasping success rate of 97%. Including an energy-optimization goal in the reward function, the energy consumption is significantly reduced compared to control policies learned without incentive for energy optimization, while the increase in cycle time is marginal. The energy-optimization effects can be observed in the overall smoother motion and acceleration profiles during crane manipulation.

cs.RO↗
arXiv2020

The importance of silhouette optimization in 3D shape reconstruction system from multiple object scenes

This paper presents a multi stage 3D shape reconstruction system of multiple object scenes by considering the silhouette inconsistencies in shape-from silhouette SFS method. These inconsistencies are common in multiple view images due to object occlusions in different views, segmentation and shadows or reflection due to objects or light directions. These factors raise huge challenges when attempting to construct the 3D shape by using existing approaches which reconstruct only that part of the volume which projects consistently in all the silhouettes, leaving the rest unreconstructed. As a result, final shape are not robust due to multi view objects occlusion and shadows. In this regard, we consider the primary factors affecting reconstruction by analyzing the multiple images and perform pre-processing steps to optimize the silhouettes. Finally, the 3D shape is reconstructed by using the volumetric approach SFS. Theory and experimental results show that, the performance of the modified algorithm was efficiently improved, which can improve the accuracy of the reconstructed shape and being robust to errors in the silhouettes, volume and computational inexpensive.

cs.CV↗
arXiv2020

Static object detection and segmentation in videos based on dual foregrounds difference with noise filtering

This paper presents static object detection and segmentation method in videos from cluttered scenes. Robust static object detection is still challenging task due to presence of moving objects in many surveillance applications. The level of difficulty is extremely influenced by on how you label the object to be identified as static that do not establish the original background but appeared in the video at different time. In this context, background subtraction technique based on the frame difference concept is applied to the identification of static objects. Firstly, we estimate a frame differencing foreground mask image by computing the difference of each frame with respect to a static reference frame. The Mixture of Gaussian MOG method is applied to detect the moving particles and then outcome foreground mask is subtracted from frame differencing foreground mask. Pre-processing techniques, illumination equalization and de-hazing methods are applied to handle low contrast and to reduce the noise from scattered materials in the air e.g. water droplets and dust particles. Finally, a set of mathematical morphological operation and largest connected-component analysis is applied to segment the object and suppress the noise. The proposed method was built for rock breaker station application and effectively validated with real, synthetic and two public data sets. The results demonstrate the proposed approach can robustly detect, segmented the static objects without any prior information of tracking.

cs.CV↗
arXiv2020

Data-driven model order reduction for granular media

We investigate the use of reduced-order modelling to run discrete element simulations at higher speeds. Taking a data-driven approach, we run many offline simulations in advance and train a model to predict the velocity field from the mass distribution and system control signals. Rapid model inference of particle velocities replaces the intense process of computing contact forces and velocity updates. In coupled DEM and multibody system simulation the predictor model can be trained to output the interfacial reaction forces as well. An adaptive model order reduction technique is investigated, decomposing the media in domains of solid, liquid, and gaseous state. The model reduction is applied to solid and liquid domains where the particle motion is strongly correlated with the mean flow, while resolved DEM is used for gaseous domains. Using a ridge regression predictor, the performance is tested on simulations of a pile discharge and bulldozing. The measured accuracy is about 90% and 65%, respectively, and the speed-up range between 10 and 60.

physics.comp-ph↗
arXiv2015

Adaptive model reduction for nonsmooth discrete element simulation

A method for adaptive model order reduction for nonsmooth discrete element simulation is developed and analysed in numerical experiments. Regions of the granular media that collectively move as rigid bodies are substituted with rigid bodies of the corresponding shape and mass distribution. The method also support particles merging with articulated multibody systems. A model approximation error is defined and used to derive conditions for when and where to apply reduction and refinement back into particles and smaller rigid bodies. Three methods for refinement are proposed and tested: prediction from contact events, trial solutions computed in the background and using split sensors. The computational performance can be increased by 5 - 50 times for model reduction level between 70 - 95%.

physics.comp-ph↗
arXiv2015

Meshfree elastoplastic solid for nonsmooth multidomain dynamics

A method for simulation of elastoplastic solids in multibody systems with nonsmooth and multidomain dynamics is developed. The solid is discretised into pseudo-particles using the meshfree moving least squares method. The particles carry strain and stress tensor variables that are mapped to deformation constraints and constraint forces. The discretised solid model thus fit a unified framework for nonsmooth multidomain dynamics for realtime simulations including strong coupling of rigid multibodies with complex kinematic constraints such as articulation joints, unilateral contacts with dry friction, drivelines and hydraulics. The nonsmooth formulation allow for impulses, due to impacts for instance, to propagate instantly between the rigid multibody and the solid. Plasticity is introduced through an associative perfectly plastic modified Drucker-Prager model. The elastic and plastic dynamics is verified for simple test systems and the capability of simulating tracked terrain vehicles driving on a deformable terrain is demonstrated.

cond-mat.soft↗
arXiv2014

Multibody simulation of adhesion pili

We present a coarse grained rigid multibody model of a subunit assembled helix-like polymer, e.g., adhesion pili expressed by bacteria, that is capable of describing the polymers force-extension response. With building blocks representing individual subunits the model appropriately describes the complex behavior of pili expressed by the gram-negative uropathogenic Escherichia coli bacteria under the action of an external force. Numerical simulations show that the dynamics of the model, which include both the effects of unwinding and rewinding, are in good quantitative agreement with the characteristic force-extension response as observed experimentally for type 1 and P pili. By tuning the model, it is also possible to reproduce the force-extension response in the presence of anti-shaft antibodies, which dramatically changes the mechanical properties. Thus, the model and the results in this work give enhanced understanding of how a pilus unwinds under action of external forces and provide new perspective of the complex bacterial adhesion processes.

physics.bio-ph↗
arXiv2003

Resonant interaction between gravitational waves, electromagnetic waves and plasma flows

In magnetized plasmas gravitational and electromagnetic waves may interact coherently and exchange energy between themselves and with plasma flows. We derive the wave interaction equations for these processes in the case of waves propagating perpendicular or parallel to the plasma background magnetic field. In the latter case, the electromagnetic waves are taken to be circularly polarized waves of arbitrary amplitude. We allow for a background drift flow of the plasma components which increases the number of possible evolution scenarios. The interaction equations are solved analytically and the characteristic time scales for conversion between gravitational and electromagnetic waves are found. In particular, it is shown that in the presence of a drift flow there are explosive instabilities resulting in the generation of gravitational and electromagnetic waves. Conversely, we show that energetic waves can interact to accelerate particles and thereby \emph{produce} a drift flow. The relevance of these results for astrophysical and cosmological plasmas is discussed.

gr-qc↗
arXiv2003

Charged multifluids in general relativity

The exact 1+3 covariant dynamical fluid equations for a multi-component plasma, together with Maxwell's equations are presented in such a way as to make them suitable for a gauge-invariant analysis of linear density and velocity perturbations of the Friedmann-Robertson-Walker model. In the case where the matter is described by a two component plasma where thermal effects are neglected, a mode representing high-frequency plasma oscillations is found in addition to the standard growing and decaying gravitational instability picture. Further applications of these equations are also discussed.

gr-qc↗
arXiv2001

Propagation of electromagnetically generated wake fields in inhomogeneous magnetized plasmas

Generation of wake fields by a short electromagnetic pulse in a plasma with an inhomogeneous background magnetic field and density profile is considered, and a wave equation is derived. Transmission and reflection coefficients are calculated in a medium with sharp discontinuities. Particular attention is focused on examples where the longitudinal part of the electromagnetic field is amplified for the transmitted wave. Furthermore, it is noted that the wake field can propagate out of the plasma and thereby provide information about the electron density profile. A method for reconstructing the background density profile from a measured wake field spectrum is proposed and a numerical example is given.

physics.plasm-ph↗
arXiv2001

Cyclotron damping and Faraday rotation of gravitational waves

We study the propagation of gravitational waves in a collisionless plasma with an external magnetic field parallel to the direction of propagation. Due to resonant interaction with the plasma particles the gravitational wave experiences cyclotron damping or growth, the latter case being possible if the distribution function for any of the particle species deviates from thermodynamical equilibrium. Furthermore, we examine how the damping and dispersion depends on temperature and on the ratio between the cyclotron- and gravitational wave frequency. The presence of the magnetic field leads to different dispersion relations for different polarizations, which in turn imply Faraday rotation of gravitational waves.

gr-qc↗
arXiv2000

Laser generated wake fields as a new diagnostic tool for magnetized plasmas

In the presence of an external magnetic field, wake fields generated by a short laser pulse can propagate out of the plasma, and thereby provide information about the electron density profile. A method for reconstructing the density profile from a measured wake field spectrum is proposed and a numerical example is given. Finally, we compare our proposal with existing plasma density diagnostic techniques.

physics.plasm-ph↗