Probability Distributions.- Linear Models for Regression.- Linear Models for Classification.- Neural Networks.- Kernel Methods.- Sparse Kernel Machines.- Graphical Models.- Mixture Models and EM.- Approximate Inference.- Sampling Methods.- Continuous Latent Variables.- Sequential Data.- Combining Models.

Pattern Recognition and Machine Learning

Digital twin (DT) is one of the most promising enabling technologies for realizing smart manufacturing and Industry 4.0. DTs are characterized by the seamless integration between the cyber and physical spaces. The importance of DTs is increasingly recognized by both academia and industry. It has been almost 15 years since the concept of the DT was initially proposed. To date, many DT applications have been successfully implemented in different industries, including product design, production, prognostics and health management, and some other fields. However, at present, no paper has focused on the review of DT applications in industry. In an effort to understand the development and application of DTs in industry, this paper thoroughly reviews the state-of-the-art of the DT research concerning the key components of DTs, the current development of DTs, and the major DT applications in industry. This paper also outlines the current challenges and some possible directions for future work.

Digital Twin in Industry: State-of-the-Art

Digital Twin in manufacturing: A categorical literature review and classification

https://re.public.polimi.it/bitstream/11311/1049863/2/Negri%20et%20al%202017%20FAIM.pdf

A Review of the Roles of Digital Twin in CPS-based Production Systems

With the advances in new-generation information technologies, especially big data and digital twin, smart manufacturing is becoming the focus of global manufacturing transformation and upgrading. Intelligence comes from data. Integrated analysis for the manufacturing big data is beneficial to all aspects of manufacturing. Besides, the digital twin paves a way for the cyber-physical integration of manufacturing, which is an important bottleneck to achieve smart manufacturing. In this paper, the big data and digital twin in manufacturing are reviewed, including their concept as well as their applications in product design, production planning, manufacturing, and predictive maintenance. On this basis, the similarities and differences between big data and digital twin are compared from the general and data perspectives. Since the big data and digital twin can be complementary, how they can be integrated to promote smart manufacturing are discussed.

Digital Twin and Big Data Towards Smart Manufacturing and Industry 4.0: 360 Degree Comparison

About The Importance of Autonomy and Digital Twins for the Future of Manufacturing

When robots perform manipulation tasks, they need to determine their own movement, as well as how to grasp and release an object. Reasoning about the motion of the robot and the object simultaneously leads to a multi-modal planning problem in a high-dimensional configuration space. In this paper we propose an asymptotically optimal manipulation planner. Our approach extends optimal sampling-based roadmap planners to efficiently explore the configuration space of the robot and the object. We prove probabilistic completeness and global, asymptotic optimality. Extensive simulations of a typical pick-and-place scenario show that our approach significantly outperforms a (nonoptimal) state-of-the-art approach. We implemented our planner on a real manipulator and were able to compute high quality solutions in less than a second.

Optimal, sampling-based manipulation planning

In this paper we propose a new model for sequential manipulation tasks that also considers robot dynamics and time-variant environments. From this model we automatically derive constraint-based controllers and use them as steering functions in a kinodynamic manipulation planner. The resulting plan is not a trajectory but a sequence of controllers that react online to disturbances. We validated our approach in simulation and on a real robot. In the experiments our approach plans and executes dual-robot manipulation tasks with online collision avoidance and reactions to estimates of object poses.

Modeling and Planning Manipulation in Dynamic Environments

Artificial systems with a high degree of autonomy require reliable semantic information about the context they operate in. State interpretation, however, is a difficult task. Interpretations may depend on a history of states and there may be more than one valid interpretation. We propose a model for spatio-temporal situations using hidden Markov models based on relational state descriptions, which are extracted from the estimated state of an underlying dynamic system. Our model covers concurrent situations, scenarios with multiple agents, and situations of varying durations. To evaluate the practical usefulness of our model, we apply it to the concrete task of online traffic analysis.

/pdf/a-probabilistic-relational-model-for-characterizing-3sj5bq1v9m.pdf

A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems

The primary challenge for any autonomous system operating in realistic, rather unconstrained scenarios is to manage the complexity and uncertainty of the real world. While it is unclear how exactly humans and other higher animals master these problems, it seems evident, that abstraction plays an important role. The use of abstract concepts allows to define the system behavior on higher levels. In this paper we focus on the semantic mapping of indoor environments. We propose a method to extract an abstracted floor plan from typical grid maps using Bayesian reasoning. The result of this procedure is a probabilistic generative model of the environment defined over abstract concepts. It is well suited for higher-level reasoning and communication purposes. We demonstrate the effectiveness of the approach using real-world data.

Georg von Wichert

Papers

About The Importance of Autonomy and Digital Twins for the Future of Manufacturing

Optimal, sampling-based manipulation planning

Modeling and Planning Manipulation in Dynamic Environments

A Probabilistic Relational Model for Characterizing Situations in Dynamic Multi-Agent Systems

Extracting Semantic Indoor Maps from Occupancy Grids.