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28th International Scientific Conference on Transport Means 2024

作者： Kalivoda, J. Bauer, P. Novák, M. Novák, Z. Czech Technical University in Prague Faculty of Mechanical Engineering Department of Automotive Combustion Engine and Railway Engineering Technicka 4 Prague 6 Czech Republic Czech Technical University in Prague Faculty of Mechanical Engineering Department of Instrumentation and Control Engineering Technicka 4 Prague 6 Czech Republic

The paper deals with the design of a sensor system for the detection of lateral position and angle of attack of wheelsets relative to the track. The goal is to determine the type and placement of sensors mounted on the axle-box so that, with their use, the position of the wheelset towards the track can be contactless detected while the vehicle is running. Such a system can be used during vehicle testing according to EN 14363 and potentially also in active wheelset steering systems. To determine wheelsets’ position is a complex task with several degrees of freedom, because not only the angle of attack and the lateral position of the wheelset changes, but also the vertical position of the sensor above the top of the rail and the shape of the rail head are variable. In the first phase of the project, suitable industrial sensors were selected in terms of dimensions, measured ranges, tolerance to acceleration and other environmental impacts. Three sensors were selected, and their output characteristics were measured depending on the vertical and lateral distance from the rail. Based on the measured characteristics, the type, number, and arrangement of the sensors will be proposed. The paper focuses mainly on the choice of appropriate types of sensors, the description of the test equipment and the measured characteristics of the sensors. © 2024 Kaunas University of Technology. All rights reserved.

关键词： Vehicle wheels

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A Spectrum-based Filter Design for Periodic Output Regulation of Systems with Dead-Time 22

A Spectrum-based Filter Design for Periodic Output Regulatio...

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22nd IFAC World Congress

作者： Yuksel, Can Kutlu Niculescu, Silviu-Iulian Vyhlídal, Tomáš Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Prague 6 16607 Czech Republic Gif-sur-Yvette91192 France

ISBN: (纸本)9781713872344

This paper presents a filter structure that allows the user to place desired poles and the necessary zeros to achieve periodic regulation to the closed-loop sensitivity through Internal Model control framework. The periodic regulation is aimed at stable SISO linear systems suffering from input dead-time and having no closed right-half plane zeros. The negative effects of the dead time on tracking/rejection are compensated by introducing another delay which is tuned independently from the filter thanks to its structure. The main focus is given to constructing the filter with polynomials. However, it can be readily extended to quasi-polynomials. The findings are verified with a computer simulation of a vibration control task. Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://***/licenses/by-nc-nd/4.0/)

关键词： delay filter design IMC vibration control

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Integrated design of system structure and delayed resonator towards efficient non-collocated vibration absorption

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Journal of Sound and Vibration 2025年 612卷

作者： Peichl, Adam Kuře, Matěj Michiels, Wim Vyhlídal, Tomáš Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Prague 6166 07 Czech Republic Department of Computer Science KU Leuven Celestijnenlaan 200A HeverleeB-3001 Belgium

The problem of non-collocated vibration absorption by a delayed resonator is addressed with emphasis on system fatigue resistance and energy efficiency of control actions. The analysis is performed for a system consisting of an arbitrary large series of flexibly linked single-degree-of-freedom masses. For the stage where the vibration of the target mass is fully absorbed by the non-collocated resonator, key forces, motion amplitudes and potential energies across the system structure are assessed. Next, a complete parameter set of the resonator gain and delay is derived, and the actuation force and power needed by the resonator for the full vibration absorption is determined. The derived quantities are utilized in forming an optimization problem to balance minimal risk of fatigue across the system structure and power needed by the resonator, under the closed loop stability and parameter constraints. Next to the gain and delay of the resonator, selected structural parameters of the system are used as variables in the constrained nonlinear optimization problem. Experimental and numerical case studies are included to demonstrate benefits of the proposed integrated structural and control design. © 2025 The Authors

关键词： Structural health monitoring

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Comparative Analysis of YOLO-based Models for Vocal Cord Segmentation in Laryngoscopic Images 28th

Comparative Analysis of YOLO-based Models for Vocal Cord Seg...

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28th International Conference on Knowledge Based and Intelligent information and engineering Systems, KES 2024

作者： Steinbach, Jakub Vrba, Jan Jirsa, Tomáš Cejnek, Matouš Urbániová, Zuzana Department of Mathematics Informatics and Chemistry Faculty of Chemical Engineering University of Chemistry and Technology in Prague Technická 5 Praha 6 - Dejvice Prague166 28 Czech Republic Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 1902/4 Praha 6 - Dejvice Prague160 00 Czech Republic Department of Otorhinolaryngology 3rd Faculty of Medicine Faculty Hospital Královské Vinohrady Charles University Ruská 87 Praha 10 Prague100 00 Czech Republic

This study presents a comparative analysis of segmentation models based on the YOLO (You Only Look Once) architecture for the task of vocal cord detection in laryngoscopic images. The yolov5, yolov8, and yolov9 architectures were evaluated using images obtained from laryngoscopic videos recorded during standard examinations at ORL clinics. The primary objective was to assess the efficiency of different model sizes and architectures in accurately identifying the position of vocal cords within the images. Our findings reveal that all evaluated architectures demonstrate proficiency in vocal cord detection, with comparable results across the models. However, there is a discernible difference in mean Average Precision (mAP) metrics (at IoU thresholds ranging from 0.5 to 0.95). Notably, yolov8 exhibits the highest mAP scores, followed by yolov5 and yolov9, indicating superior performance in identifying vocal cord regions. This comparative analysis provides valuable insights into the effectiveness of YOLO-based segmentation models for vocal cord detection, highlighting the importance of model size and architecture selection in medical image analysis applications. © 2024 The Authors.

关键词： Image segmentation

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Application of Deep Learning Models for Vocal Cords Detection in Laryngoscopic Imagery 28th

Application of Deep Learning Models for Vocal Cords Detectio...

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28th International Conference on Knowledge Based and Intelligent information and engineering Systems, KES 2024

作者： Vrba, Jan Steinbach, Jakub Cejnek, Matouš Jirsa, Tomáš Urbániová, Zuzana Department of mathematics informatics and cybernetics University of Chemistry and Technology in Prague Technická 5 Praha 6-Dejvice Prague166 28 Czech Republic Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 1902/4 Praha 6160 00 Czech Republic Department of Otorhinolaryngology 3rd Faculty of Medicine Faculty Hospital Královské Vinohrady Charles University Ruská 87 Praha 10 Prague100 00 Czech Republic

The accurate location of vocal cords is crucial in medical imaging applications for diagnostic and therapeutic purposes. In this study, we evaluated the performance of state-of-the-art object detection models, including the YOLO, EfficientDet D1, Faster RCNN and Single Shot Detector architectures, for the task of vocal cord detection. Using a data set of annotated medical images, we conducted comprehensive experiments to compare the models in terms of mean average precision (mAP) and inference time. Our results indicate that YOLOv8m achieved the highest performance, with a mAP@[0.5:0.95] of 0.778 and an inference time of 4.7 milliseconds. EfficientDet D1, Faster R-CNNs, and Single Shot Detectors trailed behind with slightly lower mAP scores. These findings highlight the efficacy of YOLOv8m for vocal cord localization on the utilized dataset. In addition, our study provides valuable information for the selection of suitable object detection models in medical imaging applications, facilitating better diagnosis and treatment planning in laryngology and otolaryngology. © 2024 The Authors.

关键词： Medical imaging

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Optimal swing motion control for single-rod brachiation robot *

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IFAC-PapersOnLine 2023年第2期56卷 6320-6325页

作者： Juraj Lieskovský Hijiri Akahane Jaroslav Bušek Ikuo Mizuuchi Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering and CIIRC-Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Technická 4 Prague 6 16607 Czechia Department of Mechanical Systems Engineering Tokyo University of Agriculture and Technology 2-24-16 Naka-cho Koganei-city Tokyo Japan

This paper focuses on the optimal swing and rotation control of a single-rod brachiation robot by repositioning its center of gravity. First, a time-optimal control is proposed and analyzed. It utilizes impulses of force at the robot's zero-angle and the turning-angle positions to reposition the center of gravity. Then, a practical implementation that addresses force limits is proposed, in the form of a PD controller paired with input-output linearization which uses the optimal solution as a setpoint. Both control policies are validated through simulations as a preliminary step to laboratory validation on an assembled single-rod robot. Enhanced attention is paid to energy evolution during the swing and rotation of the robot, in particular to the energy pumping achieved by repositioning the center of gravity.

关键词： Single-link robot optimal swing nonlinear control brachiation

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A Spectrum-based Filter Design for Periodic control of Systems with Time Delay

arXiv

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arXiv 2025年

作者： Yüksel, Can Kutlu Vyhlídal, Tomáš Bušek, Jaroslav Hromčík, Martin Niculescu, Silviu-Iulian Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Prague 616607 Czech Republic Université Paris-Saclay CNRS CentraleSupélec Inria Laboratoire des Signaux et Systèmes Gif-sur-Yvette91192 France Department of Control Engineering Faculty of Electrical Engineering Czech Technical University in Prague Karlovo náměstí 13 Prague 2121 35 Czech Republic

A fully analytical controller design is proposed to tackle a periodic control problem for stable linear systems with an input delay. Applying the internal model control scheme, the controller design reduces to designing a filter, which is done through the placement of poles and zeros. The zeros are placed to compensate for the harmonics and to achieve the desired degree of properness for the filter. For placing the poles, a quasi-optimal procedure is proposed utilizing the standard LQR method. Given the high-dimensionality of the filter due to targeting a large number of harmonics, the design, as well as controller implementation, is performed over a state-space representation. A thorough experimental case study is included to demonstrate both the practical feasibility and effectiveness of the proposed control design. The experimental validation is performed on a physical system, the goal of which is to reject periodic vibrations acting on a mass-spring-damper setup where the sensor and the actuator are *** Codes 93D09 © 2025, CC BY-NC-ND.

关键词： Disturbance rejection

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A Spectrum-based Filter Design for Periodic Output Regulation of Systems with Dead-Time

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IFAC-PapersOnLine 2023年第2期56卷 917-922页

作者： Can Kutlu Yuksel Silviu-Iulian Niculescu Tomáš Vyhlídal Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 4 Prague 6 16607 Czechia Université Paris-Saclay CNRS CentraleSupélec Inria Laboratoire des Signaux et Systèmes (L2S) 91192 Gif-sur-Yvette France

This paper presents a filter structure that allows the user to place desired poles and the necessary zeros to achieve periodic regulation to the closed-loop sensitivity through Internal Model control framework. The periodic regulation is aimed at stable SISO linear systems suffering from input dead-time and having no closed right-half plane zeros. The negative Effects of the dead time on tracking/rejection are compensated by introducing another delay which is tuned independently from the filter thanks to its structure. The main focus is given to constructing the filter with polynomials. However, it can be readily extended to quasi-polynomials. The findings are verified with a computer simulation of a vibration control task.

关键词： delay filter design IMC vibration control

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Comparative Analysis of YOLO-based Models for Vocal Cord Segmentation in Laryngoscopic Images

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Procedia Computer Science 2024年 246卷 4998-5006页

作者： Jakub Steinbach Jan Vrba Tomáš Jirsa Matouš Cejnek Zuzana Urbániová Department of Mathematics Informatics and Chemistry Faculty of Chemical Engineering University of Chemistry and Technology in Prague Technická 5 166 28 Praha 6 - Dejvice Prague Czech Republic Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technická 1902/4 160 00 Praha 6 - Dejvice Prague Czech Republic Department of Otorhinolaryngology 3rd Faculty of Medicine and Faculty Hospital Královské Vinohrady Charles University Ruská 87 100 00 Praha 10 Prague Czech Republic

关键词： Voice pathology detection image segmentation YOLO deep learning machine learning vocal folds vocal cords laryngoscopic imaging ORL otorhinolaryngology

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Development of a Continuous Reheating Furnace State-Space Model Based on the Finite Volume Method

SSRN

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SSRN 2024年

作者： Skopec, Pavel Vyhlidal, Tomas Knobloch, Jan Department of Instrumentation and Control Engineering Faculty of Mechanical Engineering Czech Technical University in Prague Technicka 4 Prague160 00 Czech Republic Center of Aviation and Space Research Faculty of Mechanical Engineering Czech Technical University in Prague Technicka 4 Prague160 00 Czech Republic PT SOLUTIONS WORLDWIDE spol. s r.o. Na Stahlavce 9 Prague160 00 Czech Republic

This numerical study presents a comprehensive mathematical model of a continuous steel slab reheating furnace, designed for potential use in advanced process control and optimization. The model development aims to demonstrate a modeling methodology to obtain a detailed but computationally feasible control-oriented model. The two-dimensional, state-space model effectively captures the temperature distribution dynamics within the furnace and slabs. Using the finite volume method (FVM), the numerical model incorporates all critical heat transfer phenomena, including radiation, conduction, convection, advection, and basic combustion. In addition, a measurement model for the furnace temperature sensors, which defines the relation with the furnace temperature state, is advantageously derived from the detailed treatment of radiative heat transfer. Although the furnace model has a relatively high dimension, it remains efficient enough for certain optimization tasks. To enhance real-time control applicability, we propose linearization and model order reduction techniques, specifically balanced truncation. The modelling accuracy is verified by comparing it with more complex computational fluid dynamics (CFD) software-based models, assuming no experimental data are yet available. © 2024, The Authors. All rights reserved.

关键词： Finite volume method

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