Socket Communication Research Articles

Amber free energy tools: Interoperable software for free energy simulations using generalized quantum mechanical/molecular mechanical and machine learning potentials

We report the development and testing of new integrated cyberinfrastructure for performing free energy simulations with generalized hybrid quantum mechanical/molecular mechanical (QM/MM) and machine learning potentials (MLPs) in Amber. The Sander molecular dynamics program has been extended to leverage fast, density-functional tight-binding models implemented in the DFTB+ and xTB packages, and an interface to the DeePMD-kit software enables the use of MLPs. The software is integrated through application program interfaces that circumvent the need to perform “system calls” and enable the incorporation of long-range Ewald electrostatics into the external software’s self-consistent field procedure. The infrastructure provides access to QM/MM models that may serve as the foundation for QM/MM–ΔMLP potentials, which supplement the semiempirical QM/MM model with a MLP correction trained to reproduce ab initio QM/MM energies and forces. Efficient optimization of minimum free energy pathways is enabled through a new surface-accelerated finite-temperature string method implemented in the FE-ToolKit package. Furthermore, we interfaced Sander with the i-PI software by implementing the socket communication protocol used in the i-PI client–server model. The new interface with i-PI allows for the treatment of nuclear quantum effects with semiempirical QM/MM–ΔMLP models. The modular interoperable software is demonstrated on proton transfer reactions in guanine-thymine mispairs in a B-form deoxyribonucleic acid helix. The current work represents a considerable advance in the development of modular software for performing free energy simulations of chemical reactions that are important in a wide range of applications.

Coordinated Transport by Dual Humanoid Robots Using Distributed Model Predictive Control.

Dual humanoid robot collaborative control systems possess better flexibility and adaptability in complex environments due to their similar structures to humans. This paper adopts a distributed model predictive controller based on the leader-follower approach to address the collaborative transportation control issue of dual humanoid robots. In the dual-robot collaborative control system, network latency issues may arise due to unstable network conditions, affecting the consistency of dual-robot collaboration. To solve this issue, a communication protocol was constructed through socket communication for dual-robot collaborative consistency, thereby resolving the problem of consistency in dual humanoid robot collaboration. Additionally, due to the complex structure of humanoid robots, there are deficiencies in position tracking accuracy during movement. To address the poor accuracy in position tracking, this paper proposes a distributed model predictive control that considers historical cumulative error, thus enhancing the position tracking accuracy of dual-robot collaborative control.

Optimizing pick-place operations: Leveraging k-means for visual object localization and decision-making in collaborative robots

This article presents an approach to object localization algorithms for pick-place operations in collaborative robots by utilizing conventional color segmentation in computer vision and k-means clustering. Adding the k-means clustering algorithm complements the color segmentation by distinguishing and grouping the sections of similar pixels; hence, object localization is more accurate. The order of pick-place operations of each cluster acquired from the proposed algorithm is prioritized based on norm. Integrating the proposed framework provides a well-structured depiction of the localized objects, which is fundamental for successful pick-place operations. The TCP/IP communication framework via socket communication is established to facilitate data transmission between the robot and the host computer. The objective is to ensure that the robot's end effector performs as directed by the host computer by obtaining information on the pick-and-place operation, including the localized coordinates, dimensions, the order of operations, and the pose of the objects of interest to the robot. In this experiment, a cobot arm is employed to autonomously pick and place objects with different shapes and colors in a workspace filled with diverse objects, requiring the robot to choose the closest objects to operate based on the data from the host computer. Our results demonstrate the effectiveness of this integration, showcasing the enhanced adaptability and efficiency of pick-place operations in collaborative robots. This study indicates 98% accuracy in pick-and-place operations with an average latency of 0.52 ± 0.1 s, indicating an improvement compared to the traditional algorithm without k-means clustering, which achieves an accuracy of 88%. Additional studies reveal that when incorporating pose estimation into the pick-place operations, the proposed algorithm's accuracy is 94%. The demonstration highlights the potential of leveraging machine learning algorithms and computer vision from the camera to perform flexible pick-place operations via socket communication.

안전문화 구축을 위한 시뮬레이션과 메타버스와의 관계 연구

With the advent of the 4th industrial revolution due to the development of the communication industry, convergence between systems is actively taking place, with IoT, VR, Metaverse and AI at the center of it. Currently, simulators are used for education and simulation training in order to improve the safety culture or reduce human error in the main tasks of power facilities. However, detailed information on the phenomena occurring in power facilities during education and simulation training is not provided. Therefore, in this study, in order to improve the understanding of the relationship between driving operation and power facilities (human-machine system), we went one step further from the 3D educational video that has been used as an auxiliary material so far, and grafted virtual reality (VR) technology. This is a study on how to establish an integrated safety culture of electric power facility simulation training device (HMI), virtual reality (VR) and metaverse that can be directly experienced. And, as a research method to achieve the purpose of this study, a method combining OPC communication and Socket communication, which enables large-capacity signal processing, multi-connection, and two-way communication, was used. Because it can reduce human error, it responds to similar environments such as disasters, and furthermore, BCMS (Business Simulation Training in connection with the Continuity Management System) is also possible. In the future, it is expected that the concept to be conceived through this study will be able to proceed with additional research on the metaverse and safety culture construction related to the psychological therapy effect of ergonomics compared to the age of artificial intelligence.

Development of Graphical User Interface (GUI) for Surgery Assistance Application

Telemedicine is a technology that promotes patient engagement and makes healthcare more affordable and accessible. Telehealth technologies are used in healthcare settings such as teleconferencing, patient data transfer, and shared remote learning. However, current teleconferencing has limited ability to perform annotation on real-time videos. The proposed surgery assistance system would revolutionize the medical surgery industries where surgery can be monitored remotely by a surgical specialist with minimal assistance. The supervising surgeon can provide assistance to his subordinates in the operating room by annotating on videos of body parts transmitted live then the annotation will be projected directly onto the patient’s body as physician’s guidance. A comprehensive surgery assistance system is proposed as there are not many open-source systems that can support this technology. The system is capable of detecting the reference points placed on the body parts that will be operated on. Any movement of the reference points should be detected by this system, which would also alert the user with a message when movement is detected. This process is critical to ensure that the video images delivered to the remote monitor are identical to the video images captured in the operating room. Python version 3.9.4 was used, along with its associated libraries, to develop the proposed system. Socket communication using Transport Control Protocol (TCP) is used to make video transmission more secure. The proposed graphical user interface was accessed experimentally using the functional and reliability tests with the average percentage of 92% and 95% respectively to ensure that it was well implemented and both of the proposed goals were achieved.

Temperature monitoring system of friction stir welding based on digital twin

ABSTRACT Temperature field distribution of friction stir welding (FSW) influences weld quality directly, so real-time monitoring of the welding temperature is significant. However, it is difficult to monitor the temperature in the core zone due to mechanical obstructions, material plastic deformation and complex thermal-mechanical coupling. To tackle this issue, this study develops a digital twin-based temperature monitoring system of FSW. Initially, a five-dimensional integrated framework based on the digital twin concept is proposed, outlining the process of building a digital twin-based temperature monitoring system of FSW. Subsequently, a motion simulation model of FSW is established, and synchronous motion simulation of the welding process is achieved. Real-time temperature readings from the FSW workpiece surface are gathered via an infrared thermal imager and synchronously transmitted to the FSW temperature monitoring system using socket communication. Additionally, a predictive model utilizing Support Vector Regression (SVR) is incorporated, enabling real-time and precise prediction of extremum temperatures in the core zone and over-limit alarm functionality. Finally, the temperature monitoring system of FSW, grounded in the digital twin concept and integrating the outlined models and features, is developed and experimentally validated. The system enables operators to exercise timely control over the welding process to ensure weld quality.

Implementation of Python Interoperability in Java through TCP Socket Communication

Programming language interoperability is highly desirable for a variety of reasons, such as the fact that if a programmer implements specific functionality that has previously been implemented in another language, the software component can simply be reused. Because they are particularly well-suited and efficient at implementing features, certain languages regularly arise to handle issue areas. There are numerous third-party programs available for a variety of languages. When programmers have experience with and preferences for several programming languages, collaboration on complex projects is easier. A range of techniques and methods have been used to handle various cross-language communication challenges. The importance of interoperability and cross-language communication between Java and Python via socket programming is examined in this research article through an empirical model of different execution environment paradigms that can help guide the development of improved approaches for integrating Python libraries with Java without the need for extra libraries or third-party libraries. The interoperability strategy benefits from the quality and availability of Python libraries in Java by cutting down on development time, maintenance needs, general usability, upkeep, and system integration without incurring additional costs. It is versatile to use this interoperability strategy since identical scripts are run in Java client contexts in the same way that they were used in Python. There are different Python modules used in the research article to exemplify and evaluate the expressions, built-in functions, strings, collections, data exploration, statistical data analysis using NumPy, SciPy, and Pandas, and Scikit-Learn for machine learning with linear regression.

The Machine Vision Dial Automatic Drawing System—Based on CAXA Secondary Development

Whether the pointer recognition of an SF6 (sulfur hexafluoride) density controller is correct or not is directly related to enterprise security. Therefore, a pointer recognition system that is highly efficient, precise, and secure is required. In this paper, we set up a detection platform for efficient detection of pointer readings. To detect the pointer with high accuracy, we propose a dial pointer angle detection method based on OpenCV that obtains high-precision dial pointer angle information. We then use Socket communication to transmit the dial pointer information to the secondary development program. Finally, we use the ObjectCRX development software package based on Visual Studio 2015 to quickly access the CAXA electronic drawing board graphics database, carry out secondary development of the CAXA electronic drawing board 2021, and comprehensively apply various functions to draw the overall outline of the dial. Finally, we read the dial pointer angle in order to draw the current test product dial CAD drawing. After verification, the average error rate of pointer angle recognition is 0.69°, which is much lower than the enterprise standard of 2.7°. Based on machine vision technology, we researched and designed an SF6 density controller dial automatic drawing system, and after many tests, the system runs stably and the accuracy meets the needs of enterprises.

Research on Real-Time Data Transmission and Feature Analysis Technology of Smart Tool Holder

Cutting force, vibration, and cutting temperature are the significant characteristics of the cutting process for real-time monitoring and optimization. Smart tool holder technology is one of the key technologies to effectively monitor the cutting process. In order to realize real-time monitoring of the cutting process, a data transmission and processing technology based on the smart tool holder is proposed. First, a data transmission scheme based on socket communication technology is developed. Then, a data transmission format based on Modbus protocol and BCD code is proposed. Finally, the feature analysis technology of real-time data is discussed for the requirements of real-time control and optimization of process parameters. The proposed technology is conducive to improving the data processing efficiency of the data transmission process of the smart tool holder and is of great significance to the standardization of data transmission based on the smart tool holder.

Numerical simulation of the fluid-solid coupling mechanism of water and mud inrush in a water-rich fault tunnel

This study developed a new model, a 3D coupled computational fluid dynamics (CFD)-discrete element method (DEM) model, by coupling two software programs, ABAQUS and PFC3D, to solve problems related to fluid-solid interaction systems. The complete governing equations and the two-way coupling process between the two software are presented herein. Via Transmission Control Protocol (TCP) socket communication with Python scripting, information between the two software is exchanged in real-time. Then, the classic example in the PFC5.0 documentation was used to verify the model. In the end, the ABAQUS-PFC3D model was employed to simulate the process of water and mud inrush in a water-rich fault tunnel, which could reflect the evolution process of water and mud inrush and track particle movement in a fault zone. The results show that the particles that collapsed inside the fault formed an ellipsoidal distribution during the water and mud inrush in a water-rich fault tunnel. With the continuous loss of particles in the fault into the tunnel, the migration of particles is discontinuous, and a large void appears inside the fault zone. The rapid change of the groundwater flow velocity caused the negative pore pressure. The pressure arch force structure is formed above the ellipsoidal collapse area inside the fault. The principal force field of the fault areas changes from close to the dip of the fault to close to the perpendicular to the fault.

Zoro: A robotic middleware combining high performance and high reliability

With the significant advances of AI technology, robotic systems have achieved remarkable development and profound effects. The robotic middleware plays a critical role in robotic systems to provide message definition, data transmission, and service discovery functions. As the modern robotic systems are usually operated in safety critical environments, such as various autonomous driving scenarios, it requires the design of robotic middleware to combine both high performance and high reliability in order to achieve system reliability and product safety. However, conventional robotic middleware used in the majority of robotic systems is based on an inefficient socket communication mechanism and relies on a hasty service discovery design, which leads to system instability and high resource usage. In this work, we propose a sophisticated robotic middleware, Zoro, to fulfill both high performance and high reliability. For communication, we employ shared memory for performance improvement and propose a socket-based communication control algorithm to improve reliability during data transmission. Also, a hierarchical memory protection mechanism is proposed to address safety problems caused by shared memory. Furthermore, we design a light-weight service discovery, to achieve high performance and a weak centralized mechanism for high reliability. Experiments show the communication latency of Zoro significantly outperforms state-of-the-art robotic middleware such as ROS2 and CyberRT by up to 41%. In terms of service discovery, Zoro reduces CPU usage by up to 44% compared to ROS. Zoro achieves reliability with respect to communication and service discovery.

Fast Template Matching Algorithm Based on Contour Hu Invariant Moments Object Recognition Method

The object recognition of the vision robot was studied in order to address the problem of how an industrial robot can rapidly and autonomously identify and grasp a specified target workpiece under multi-target conditions, and to apply the vision robot object recognition technology to the design of an intelligent grasping system for industrial robots. The research method is based on the pattern recognition of the image, the detection and positioning research, the relationship between the visual image and the workpiece positioning and grasping, and the proposed monocular vision grasping system based on the contour Hu-invariant moment fast template matching algorithm. The image acquired by the camera is pre-processed first, then the target workpiece is identified by the contour Hu-invariant moment template matching algorithm, the position of the identified target workpiece is obtained by using the principle of minimization of contour moment and second order moment of inertia, and finally the obtained position is sent to the robotic arm control system to guide the robotic arm grasping by establishing SO CKET communication. Based on DobotS tudio, DobotVisionStudio 1.4.2, MVS software development platform and DobotStudio robot, the intelligent gripping system was built and tested.

Development of Water Level and Water Quality Monitoring System in Multiple Water Areas of Hongze Lake Based on 5G Technology

In order to further improve the intelligence level of current multi-water level water quality monitoring in Hongze Lake and reduce the incidence of catastrophic accidents, a multi-water water level water quality monitoring system based on 5G communication technologies in Hongze Lake was proposed in this paper. The embedded system chip RK3399 was used to construct the bottom-level monitoring core module. For the convenience of emergency and system debugging, the bottom-level module was also designed with a matrix keyboard and corresponding LCD liquid crystal display. Zigbee communication was used to obtain the water level and water quality sensor array information in multiple waters, and data fusion processing was performed through 5G communication. 5G module was used for communication between bottom-level module and server. At present, the cost of server leasing is relatively high. In order to reduce the cost of server leasing, the high-level language Delphi was combined with Socket communication to independently build the underlying server module in this paper. The underlying server module was convenient and flexible, with large storage capacity and low cost; the mobile APP client was designed to communicate wirelessly with the server. After on-the-spot monitoring of the Hongze Lake area, the monitoring system was in good operation, with fast parameter acquisition and screen capture, which could meet the expected results and provide a good solution for water level water quality monitoring in multiple water areas.

Demonstration of Drawing By Robotic Arm using RoboDK and C#

Purpose: Robots are transforming the world, and soon they will take part or assist in our all-daily life activities. There are several fields where robots are already doing well, like Surgery, painting, industrial automation, autonomous navigation, engraving, 3D printing, and many more. The robot is nothing but consists of some mechanical movement driven by functions and algorithms. To get the perfect result, the algorithm working behind the scene also needs to be perfect. In all the above fields, need to reach the end effector at the exact position. That is why we need serious research on it. Otherwise, it will remain a plaything, cannot be engaged in an important role. Before implementing it into an actual application, we need to test in a simulated environment, especially when writing new methods. The simulation environment is the safest place where anything that goes wrong cannot damage a physical entity. So, the robot researcher prefers the simulator. The RoboDK is one of the famous robot simulators. Its interface is excellent and easy to test any commercial robot inside the IDE. In our research will see how to keep marking the end-effector position using the graphical method. When our end-effector moves, it holds a footprint to inspect later. This one is a minimalistic approach. Through the simplified drawing method, we can observe arm movement. This demonstration will use an optimized version of C# API, which RoboDK provides. Design/Methodology/Approach: In RoboDK IDE, we can create a new station or import existing built-in available stations. Our application drives the simulator robot. It is developed in C# language using Microsoft visual studio 2019 community edition. Both applications communicate through socket communication. Pressing the mouse's left click, when we move the mouse, it calculates the mouse pointer position and maps the value based on the robot drawing area. Then the values are sent to the simulated robot. Fetching the value, RoboDK moves into the desired position. Findings/result: Using our research works, the researcher can get some references to enhance their research work. We keep our code as simple as possible to be understood quickly and easily integrate into their research work.

Demonstration of Drawing by Robotic Arm using RoboDK and C#

Purpose: Robots are transforming the world, and soon they will take part or assist in our all-daily life activities. There are several fields where robots are already doing well, like Surgery, painting, industrial automation, autonomous navigation, engraving, 3D printing, and many more. The robot is nothing but consists of some mechanical movement driven by functions and algorithms. To get the perfect result, the algorithm working behind the scene also needs to be perfect. In all the above fields, need to reach the end effector at the exact position. That is why we need serious research on it. Otherwise, it will remain a plaything, cannot be engaged in an important role. Before implementing it into an actual application, we need to test in a simulated environment, especially when writing new methods. The simulation environment is the safest place where anything that goes wrong cannot damage a physical entity. So, the robot researcher prefers the simulator. The RoboDK is one of the famous robot simulators. Its interface is excellent and easy to test any commercial robot inside the IDE. In our research will see how to keep marking the end-effector position using the graphical method. When our end-effector moves, it holds a footprint to inspect later. This one is a minimalistic approach. Through the simplified drawing method, we can observe arm movement. This demonstration will use an optimized version of C# API, which RoboDK provides. Design/Methodology/Approach: In RoboDK IDE, we can create a new station or import existing built-in available stations. Our application drives the simulator robot. It is developed in C# language using Microsoft visual studio 2019 community edition. Both applications communicate through socket communication. Pressing the mouse's left click, when we move the mouse, it calculates the mouse pointer position and maps the value based on the robot drawing area. Then the values are sent to the simulated robot. Fetching the value, RoboDK moves into the desired position. Findings/result: Using our research works, the researcher can get some references to enhance their research work. We keep our code as simple as possible to be understood quickly and easily integrate into their research work. Originality/Value: We search the research work on RoboDK and C# language. Most of the documents are available in the python language, even in little bit documents present in the RoboDK example collection. So, we decided to migrate from python to our native language, C#. That is why this research work. After lots of hard work, we achieved it. If anyone wants to research RoboDK using C# API, it can reference their research work. Paper Type: Simulation-based Research.

A Custom Robotic ARM in CoppeliaSim

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. Design/Methodology/Approach: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. Findings/Result: The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. Originality/Value: Using CoppeliaSim, we can design custom robot for our research.

A Custom Robotic ARM in CoppeliaSim

Purpose: For robotics research, we require the robot to test our functions, Logics, algorithms, tasks, etc. Generally, we do not experiment with the practical robot. The primary issue is Practical robots are costly. The individual researcher usually cannot afford it. The second one is, the test with the real robot is risky and can damage property, human life, and itself due to bugs in the program or abnormal activity. So, it is best practice to experiment in Simulator first. When the algorithm is finalized, it can be implemented into a real robot. A researcher who starts the Robotics research, the learning curve is too long to develop a workable robot in Simulator. This paper demonstrates how we can easily create a 7 Degree of Freedom (DOF) custom robot for our research purpose. We will use the CoppeliaSim robot simulator for this purpose. It is free, opensource, and entirely GUI-based. We can create a robot without writing any code using this software. Design/Methodology/Approach: Here we describe to develop a custom robot. At first, we created a DH parameter for our robot. Then following the step-by-step procedure, the robot is created. After creating, we can attach our code on any object using LUA script language. To control the robot from external world, we can connect through TCP/IP socket communication. Establishing the communication, our robot will move depending on processed algorithm. Findings/Result: The robotic arm researcher needs robotics arm to test their forward kinematics, Inverse kinematics, statics, dynamics etc. code. Here we design our custom robots for research purpose. Originality/Value: Using CoppeliaSim, we can design custom robot for our research. Paper Type: Simulation based Research

DEVELOPMENT AND VERIFICATION OF T-TRACE/PANTHER COUPLED CODE

Multi-physics coupled simulations have become increasingly important during the last two decades being one of the major field of application in the nuclear technology. The nuclear reactors themselves are complex systems whose responses are driven by interactions between neutron kinetics, thermal-hydraulics, heat transfer, mechanics and chemistry. Probably, in a nuclear system, the most complex and important feedback effect takes place between the core neutron kinetics and thermal-hydraulics. The development of coupled thermal-hydraulic -neutron kinetics codes is a recurrent field of research for the nuclear industry. This contribution, developed in the Consortium for Nuclear Power (CNP) framework, has the objective of develop a dynamic coupling, using TCP/IP based socket communication, between the thermal-hydraulic system code T-TRACE, Tractebel-ENGIE version of the latest US NRC TRACE release, and the multi-group 3-D nodal diffusion and core physics code PANTHER, developed and maintained by EDF Energy (UK). As a first step of the development, a fully temporally explicit coupling scheme has been developed between TRACE and PANTHER based on a boundary conditions exchange at the core level at each temporal iteration. The OECD TMI MSLB benchmark has been selected as verification scenario for testing the ongoing developing T-TRACE/PANTHER coupled code. The developed coupled code is benchmarked code-to-code against TRACE/PARCS and T-RELAP5/PANTHER.

Design of Data Transmission System Based on Smart City Integrated Data Center Construction

The construction of integrated data center provides data support services for energy smart city, which is inseparable from the aggregation of various data, such as electricity consumption information and power related data all over the city. Therefore, a stable and efficient data transmission system is needed to complete the data transmission work. But in reality, there are some problems such as the complexity of the public network environment, the diversity of data sources, and the security of source data. In order to solve the above problems, the data transmission system needs to have the following core functions: message forwarding, routing exploration, concurrent transmission, encrypted transmission, breakpoint continuation, error retransmission, etc. Based on socket communication, the system constructs a routing path from the source to the data center by exploring the routing nodes. By encapsulating the messages, the messages exchange and forward the information between the paths. For the source data with high security requirements, it encrypts the transmission. At the same time, it designs the transmission failure protection mechanism, which leads to connection problems in the transmission process, Connection recovery can continue transmission; at the same time, it can continue transmission for some unfinished tasks; it can automatically resend the failed data.

DFTB+, a software package for efficient approximate density functional theory based atomistic simulations.

DFTB+ is a versatile community developed open source software package offering fast and efficient methods for carrying out atomistic quantum mechanical simulations. By implementing various methods approximating density functional theory (DFT), such as the density functional based tight binding (DFTB) and the extended tight binding method, it enables simulations of large systems and long timescales with reasonable accuracy while being considerably faster for typical simulations than the respective ab initio methods. Based on the DFTB framework, it additionally offers approximated versions of various DFT extensions including hybrid functionals, time dependent formalism for treating excited systems, electron transport using non-equilibrium Green's functions, and many more. DFTB+ can be used as a user-friendly standalone application in addition to being embedded into other software packages as a library or acting as a calculation-server accessed by socket communication. We give an overview of the recently developed capabilities of the DFTB+ code, demonstrating with a few use case examples, discuss the strengths and weaknesses of the various features, and also discuss on-going developments and possible future perspectives.