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Diagnosing faults in electric motors using B-splines and Bayesian Mixture Model

Diagnosing faults in electric motors using B-splines and Bay...

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international conference on methods and models in automation and robotics (MMAR)

作者： Kacper Jarzyna Bartłomiej Gawęda Jerzy Baranowski Department of Automatic Control & Robotics AGH University of Science & Technology Kraków Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

Diagnosing faults in electric motors is crucial for various applications, from everyday devices to industrial machinery. Authors propose a method for identifying motor faults using acoustic signals, which are easy to capture with microphones. Proposed approach involves analyzing these signals using Functional Data Analysis (FDA), representing frequency patterns with B-splines and Bayesian Mixture Model as classifier. In this paper, there was developed a classifier to categorize five motor fault types based on these transformed signals. By focusing on frequencies up to 2500 Hz relevant to motor issues, authors aim to detect faults without needing complex equipment and greatly shorten computation time. this approach yields promising results.

关键词： Fault diagnosis Time-frequency analysis Electric potential Focusing Mixture models Bayes methods Splines (mathematics)

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Evaluation of the Effectiveness Of Physical Protection Systems with Consideration of its Cyber-Resilience

Evaluation of the Effectiveness Of Physical Protection Syste...

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international conference on methods and models in automation and robotics (MMAR)

作者： Jan Kapusta Waldemar Bauer Jerzy Baranowski Department of Automatic Control & Robotics CISCO Systems Poland sp. z.o.o. AGH University of Krakow Krakow Poland Department of Automatic Control & Robotics AGH University of Krakow Krakow Poland

the importance of security in the modern, dynamically changing world seems to be understood across the globe. Different types of organizations, both from the public and the private sector, are creating strategies and investing large amounts of funds to implement Physical Protection Systems (PPS) in order to protect their assets. It appears relatively obvious that assessment of the effectiveness of PPS is important and required. Moreover, the result of the assessment should be reliable and cover as much as possible current threats, including those that are coming from cyberspace. In this paper, we propose a new approach to evaluating PPS. Our proposition as a starting point is using well-known EASI (Estimate of Adversary Sequence Interruption) methodology but reinforced with methods aiming to cover the cybersecurity of PPS considering all potential adversary paths.

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Effect of Network Size on Fractional-Order Dynamics in Large, Scale-Free robotics Swarms and Platoons

Effect of Network Size on Fractional-Order Dynamics in Large...

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international conference on methods and models in automation and robotics (MMAR)

作者： Bill Goodwine Department of Aerospace and Mechanical Engineering University of Notre Dame Notre Dame IN USA

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper studies the effect of the size of a large scale robot network on the fractional order of the dynamics of the step response of the system. We show that, for a scale free network with certain parameter values, as the number of robots increases the fractional order also increases up to certain size network, after which the order plateaus. In contrast, for a much more structured platoon network, the opposite happens. this paper presents those results and discusses some hypotheses attempting to resolve the apparent contradiction. We are interested in investigating the presence of fractional order dynamics in systems of this type because they are becoming increasingly common for large scale engineered systems. Very large scale systems can be difficult to design, analyze and control and understanding various approaches to determine effective and accurate reduced order models is important. A concise fractional order description of the dynamics offers insight into the nature of the system that may not otherwise be available through either the full, very large scale system dynamics or other types of reduced order models.

关键词： automation Accuracy Reduced order systems Large-scale systems Robots

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Predictive maintenance for electrical motors: Current approach and usage of artificial intelligence algorithms

Predictive maintenance for electrical motors: Current approa...

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international conference on methods and models in automation and robotics (MMAR)

作者： Tomasz Herzog Krzysztof Bartecki Faculty of Electrical Engineering Automatic Control and Computer Science Opole University of Technology Opole Poland Rockwell Automation Power Control Business Katowice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

the article presents the current approach in artificial intelligence methods used in predictive maintenance for electrical motors. the study focuses on presenting data classification methods for fault detection and isolation using data from condition monitoring systems. We discuss the advantages and disadvantages of using machine learning methods like perceptron and Support Vector Machine (SVM) for fault classification problems. Our conclusion shows great interest in machine learning methods combined with condition monitoring systems. Our future research will focus on comparing SVM, perceptron networks, and other methods, such as K-nearest neighbors, with their possibility for implementation in embedded firmware systems.

关键词： Support vector machines Condition monitoring Accuracy Fault detection Artificial neural networks Machine learning Prediction algorithms

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Comparative study of subset selection methods for rapid prototyping of 3D object detection algorithms

Comparative study of subset selection methods for rapid prot...

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international conference on methods and models in automation and robotics (MMAR)

作者： Konrad Lis Tomasz Kryjak Department of Automatic Control and Robotics Embedded Vision Systems Group AGH University of Krakow Poland

Object detection in 3D is a crucial aspect in the context of autonomous vehicles and drones. However, prototyping detection algorithms is time-consuming and costly in terms of energy and environmental impact. To address these challenges, one can check the effectiveness of different models by training on a subset of the original training set. In this paper, we present a comparison of three algorithms for selecting such a subset – random sampling, random per class sampling, and our proposed MONSPeC (Maximum Object Number Sampling per Class). We provide empirical evidence for the superior effectiveness of random per class sampling and MONSPeC over basic random sampling. By replacing random sampling with one of the more efficient algorithms, the results obtained on the subset are more likely to transfer to the results on the entire dataset. the code is available at: https://***/vision-agh/monspec.

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Unmanned aerial vehicle control method considering optimal compensation and gusts of wind

Unmanned aerial vehicle control method considering optimal c...

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international conference on methods and models in automation and robotics (MMAR)

作者： Sławomir Stępień Monika Pawlak Wojciech Giernacki Faculty of Control Robotics and Electrical Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a control strategy based on a coupled Proportional and State-Dependent Riccati Equation (P-SDRE) controller, which ensures a quick stabilization for a given angular position of an unmanned aerial vehicle in three-dimensional space, is presented. the Hamilton-Jacobi-Bellman function and the Riccati differential equation are used to develop the solution of the SDRE algorithm. Properly defined weighting matrices in performance index allow quadrotor’s fast and precise positioning with optimal stabilization of angular speeds. Cruise control of unmanned aerial vehicle is modelled and simulated. In order to prove the effectiveness of the method, disturbances modelled as wind gusts are included in the simulation.

关键词： Space vehicles Riccati equations Optimal control Quality control Autonomous aerial vehicles Mathematical models Robustness

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An intelligent vision system for the detection and classification of heterogeneous objects moving on a belt conveyor

An intelligent vision system for the detection and classific...

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international conference on methods and models in automation and robotics (MMAR)

作者： Paweł Majewski Adam Łysiak Łukasz Klar Krzysztof Bochenek Department of Control Science and Engineering Opole University of Technology Opole Poland KBA AUTOMATIC Sp. z o.o Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this paper, a newly developed author’s vision system allowing identification of packages moving on the conveyor belt and their classification is presented. An important aspect is that the mentioned objects move at relatively high speeds, which is challenging for any vision system. the methodology used in the plant is based on a hybrid combination of algorithmic determination of the features of a given object with artificial neural networks performing the classification process. An essential aspect of the work is using the advanced camera, which provides three-dimensional image analysis. the obtained verification results confirm the system’s usefulness not only for research purposes but even for implementing industrial automation tasks.

关键词： Analytical models automation Image analysis Service robots Machine vision Artificial neural networks Belts

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Optimal control of unmanned robotic platform

Optimal control of unmanned robotic platform

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international conference on methods and models in automation and robotics (MMAR)

作者： Sławomir Stępień Marcin Chodnicki Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Airplanes and helicopters division Air Force Institute of Technology Warsaw Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper proposes an infinite-time horizon suboptimal control strategy based on state-dependent Riccati equation (SDRE) to control of unmanned ground vehicle (UGV). Cruise control of unmanned robotic platform is modelled and simulated. For vehicle modelling purpose a full 6 DOF model is considered and described by nonlinear state-space approach. Also a stable state-dependent parametrization (SDP) necessary for solution of the SDRE control problem is proposed and presented. Solution of the SDRE control problem with adequate defined weighting matrices in performance index shows possibility of fast and optimal vehicle control in infinite-time horizon. the method in this form can be used for mission planning of each ground vehicle tracking and dynamics control.

关键词： Riccati equations Optimal control Mathematical models Land vehicles Planning Performance analysis Numerical models

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Identification of the thermal Model Parameters of Industrial Supercapacitors

Identification of the Thermal Model Parameters of Industrial...

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international conference on methods and models in automation and robotics (MMAR)

作者： Ryszard Kopka Rafał Stanisławski Faculty of Electrical Engineering Automatic Control and Informatics Opole University of Technology Opole Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the results of determining thermal model parameters of the supercapacitors used in industrial applications. the energy losses inside the supercapacitor were determined based on measured current and voltage during the charging and discharging cycles. Based on them and measured temperatures, the thermal resistances of conduction and convection and the heat capacities were calculated. thermal model parameters were derived for different charging and discharging currents leading to supercapacitor heating. Results will allow the temperature of supercapacitor housing and terminals to be calculated, depending on the charging and discharging currents at a constant ambient temperature.

关键词： Temperature measurement Temperature dependence Analytical models Voltage measurement Current measurement thermal resistance Supercapacitors

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Transfer Function Analysis and Algorithm Order Reduction for Active Disturbance Rejection Control

Transfer Function Analysis and Algorithm Order Reduction for...

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international conference on methods and models in automation and robotics (MMAR)

作者： Jacek Michalski Mikołaj Mrotek Stefan Brock Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

this paper presents the transfer function analysis of the closed-loop system with an active disturbance rejection control (ADRC) algorithm. Although the classical interpretation of the extended state observer (ESO) and control algorithm (state feedback) in the state space usually allows for achieving satisfactory control quality, the presented analysis enables calculation of the obtained pole values in the closed-loop system. Furthermore, reduction of the algorithm order by omitting the non-dominant poles of the control plant has also been proposed. the experiments were carried out on a third-order mechanical object, a ball balancing table (BBT) setup. In addition to reducing computational complexity, the presented order reduction procedure allows one to improve the properties of a closed-loop system in the case of poles with large modules affecting the control quality.

关键词： Robust control State feedback automation Process control Observers Polynomials Closed loop systems

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