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24th International Carpathian control Conference, ICCC 2023

作者： Kot, Andrzej Nawrocka, Agata AGH - University of Science and Technology Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

Among the most important human needs is the desire to live as comfortably and independently as possible. Nothing bothers the patient so much as the infirmity of his own body, often resulting in a high dependence on the care of others, even during simple everyday activities. The ability to move and manipulate objects in the human environment is the basis of human functioning. At the same time, such simple activities are a huge problem for many people, and sometimes even an unattainable barrier to a better life. The reasons for this situation vary, ranging from genetic defects, through various types of diseases, to injuries and accidents, which in drastic cases may even result in amputations of parts of the human body. The article presents aspects related to the measurement of the signal of electrical activity of skeletal muscles (EMG) and the simulation results of the recorded signal use to control the device operation, e.g. in the form of a wheelchair, which is an aid for the patient in moving around. © 2023 IEEE.

关键词： Wheelchairs

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The planning of neurosurgical operations: methods and criteria for determining the safest tool trajectory from the skull surface to the tumour 24

The planning of neurosurgical operations: methods and criter...

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24th International Carpathian control Conference, ICCC 2023

作者： Marszalik, Dorota AGH University of Science and Technology Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

Methods of surgical plan determination are the topic of this paper. Neurosurgical operations are especially dangerous because of the risk of damage important areas in the brain. Results of such damage can be patient's death or loss of health. The finding of the safest tool trajectory from skull surface to tumour is the goal of operation plan. This trajectory should allow access to tumour located in deep parts of the brain and avoid zones which damage is especially dangerous. Security criteria used to determine optimal trajectory of surgical tool tip are presented an compared in this paper. Stages of plan development and mathematical formulas are described. Simulation tests of proposed methods were performed on exemplary models and results are presented in this paper. © 2023 IEEE.

关键词： Tumors

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Design of Robust H∞ control of an Active Inerter-Based Vehicle Suspension System 21st

Design of Robust H∞ Control of an Active Inerter-Based Vehi...

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21st Polish control Conference, PCC 2023

作者： Afshar, Keyvan Karim Korzeniowski, Roman Konieczny, Jaroslaw Department of Process Control AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

In this study, a robust H∞, controller for a quarter-car model of an active inerter-based suspension in the presence of external disturbance has been investigated. Its prime goal is to improve the inherent trade-offs among ride quality, handling performance, suspension travel, and power consumption. Inerters have been widely used to suppress undesirable vibrations of various types of mechanical structures. First, the dynamics and state space of the active inerter-based suspension system were achieved for the quarter-car model. To meet the specified objectives, and guarantee the prescribed disturbance attenuation level of the closed-loop system, the Lyapunov stability function, and linear matrix inequality (LMI) approaches have been used to fulfill the robust H∞, criterion. Furthermore, to limit the gain of the controller, some LMIs have been added. Numerical simulations show that an active suspension based on inerter performs much better than a passive suspension with inerter and active suspension without inerter. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Linear matrix inequalities

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Modelling hysteresis with neural network 24

Modelling hysteresis with neural network

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24th International Carpathian control Conference, ICCC 2023

作者： Raczka, Waldemar Sibielak, Marek Konieczny, Jaroslaw AGH University of Science and Technology Department of Process Control Kraków Poland

ISBN: (纸本)9798350310221

An example of a system with hysteresis is an actuator made of SMA. In the paper, the LSTM neural network was used to model the actuator. The focus was pointed to its hysteretic part. Neural network structure and learning method are briefly presented. Data used for training was obtained from the Preisach hysteresis model. This model was used to generate the datasets used for training and testing. Thanks to this approach, we can generate data quickly and in a fully controllable way. Thanks to this, experiments can be thoroughly planned and fully repeatable. The advantage and disadvantage at the same time is the lack of disturbances. The main goal of the paper was to model hysteresis on an example of an SMA actuator, but in fact, it was interesting if a neural network could describe hysteresis loop because literature research shows that usually neural networks are used to model hysteresis with a hysteretic element in combination modelled in another way. © 2023 IEEE.

关键词： Hysteresis

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Research study of image classification algorithms based on Convolutional Neural Networks 24

Research study of image classification algorithms based on C...

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24th International Carpathian control Conference, ICCC 2023

作者： Nawrocka, Agata Nawrocki, Marcin Kot, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

The beginning of the paper introduces the idea of neural networks by presenting the neuron models and artificial neural networks. Next, the flow of operations used in the development of convolutional neural networks is presented, as well as an overview of popular architectures used in model development. After introducing the theoretical issues, a project using the EfficientNet architecture to recognize medical images taken by MRI is presented. The project describes: the selection and parameters of the MRI image database representing different types of brain tumors, the process of implementation and appropriate modification of the EfficientNet architecture used to classify images, the presentation of the results of learning the convolutional neural network and the images that highlight on the basis of which area the convolutional neural network classifies images. © 2023 IEEE.

关键词： Convolutional neural networks

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Identify the objective parameters of direct communication between PLC and MS SQL server 24

Identify the objective parameters of direct communication be...

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24th International Carpathian control Conference, ICCC 2023

作者： Flaga, Stanislaw Majcher, Maciej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

When building digital twins of existing technical solutions, we need a large amount of data on the parameters of their operation under various conditions. The source of data on the values of process variables at the lowest level is control devices - most often PLCs. There are many ways to acquire the qualities of process variables available from the PLC level. Increasingly, OPC UA is replacing the OPC model, and the OPC UA server is increasingly a functionality of the PLC CPU. The Industrial Internet of Things IIoT is used in companies moving toward Factory 4.0. Data from controllers can be acquired using high-level languages such as C++, C# or Python. Libraries often made available under an open-source license are used for this. For example, you can find commercial libraries for communication between PLCs of selected manufacturers and MySQL servers. Siemens provides a library for communication between S7-1200/1500 controllers and MS SQL server. The author has yet to find an exhaustive analysis of such a solution. In the literature, there need to be more studies of experiments describing the performance of query generation and execution and the impact of the library on PLC performance. The article presents the results of an experimental study of this issue. © 2023 IEEE.

关键词： Libraries

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Efficient Multi-task Learning for Road Scene Classification: Scene, Time, and Weather Predictions 20

Efficient Multi-task Learning for Road Scene Classification:...

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20th IEEE International Conference on Intelligent Computer Communication and processing Conference, ICCP 2024

作者： Prykhodchenko, Roman Skruch, Pawel Agh University of Science and Technology Department of Automatic Control and Robotics Cracow Poland

ISBN: (纸本)9798331539979

This paper addresses the task of road scene classification by leveraging multi-task learning (MTL) to improve model performance and computational efficiency. We employ the BDD100K dataset, which provides diverse driving scenarios, and apply data augmentation and balancing techniques to mitigate class imbalances. Our methodology integrates a ResNet18 backbone pre-trained on ImageNet, extended with task-specific heads for scene type, time of day, and weather classification. Uniform Manifold Approximation and Projection (UMAP) is used for dimensionality reduction and visualization of feature embeddings. Experiments demonstrate that our MTL approach significantly enhances classification accuracy across tasks, with notable performance in time-of-day classification. The proposed model achieves robust results despite class imbalances, validated through confusion matrices and UMAP visualizations. Our findings highlight the benefits of MTL in road scene classification, offering insights for future research in autonomous driving and computer vision. © 2024 IEEE.

关键词： Dimensionality reduction

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Accuracy testing of a mobile robot position identifying in 3D space 24

Accuracy testing of a mobile robot position identifying in 3...

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24th International Carpathian control Conference, ICCC 2023

作者： Bambura, Olha Sibielak, Marek Konieczny, Jaroslaw AGH University of Science and Technology Department of Process Control Krakow Poland State University of Infrastructure and Technologies Department of Theoretical and Applied Mechanics Kyiv Ukraine

ISBN: (纸本)9798350310221

The paper presents three object localisation methods in 3D space using a laser scanner sensor as a measured reference signal. The authors used the Velodyne LIDAR sensor and Matlab software to realise the described algorithms for position calculation. The article presents the accuracy of localisation depending on the applied spatial position identification method. The accuracy was separately determined for translation, rotation, and simultaneous translation with rotation. The translation accuracy was dependent on the shift axis. The limitations of the considered methods were also presented, along with a proposal to improve accuracy. The presented algorithms can be successfully applied to find the position of autonomous mobile robots in confined spaces such as public buildings, offices, and technological halls. © 2023 IEEE.

关键词： Mobile robots

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Comparison of Data Depth Calculation Method for Fault Detection in Electric Signal 21st

Comparison of Data Depth Calculation Method for Fault Dete...

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21st Polish control Conference, PCC 2023

作者： Bauer, Waldemar Dudek, Adrian Baranowski, Jerzy Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351723

Functional Data Analysis (FDA) is a modern statistical technique that deals with data in the form of curves or functions. It has recently gained popularity in the field of fault detection as it can capture the dynamic behavior of a system over time. In this paper, we explore the fault detection capabilities of functional data depth calculated by different methods. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fault detection

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Magnetic Field-Based Reward Shaping for Goal-Conditioned Reinforcement Learning

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2233-2247页

作者： Hongyu Ding Yuanze Tang Qing Wu Bo Wang Chunlin Chen Zhi Wang the Department of Control Science and Intelligence Engineering School of Management and EngineeringNanjing UniversityNanjing 210093China the Department of Power Engineering and Process Machinery School of Mechanical and Power EngineeringEast China University of Science and TechnologyShanghai 200237China IEEE

Goal-conditioned reinforcement learning(RL)is an interesting extension of the traditional RL framework,where the dynamic environment and reward sparsity can cause conventional learning algorithms to *** shaping is a practical approach to improving sample efficiency by embedding human domain knowledge into the learning *** reward shaping methods for goal-conditioned RL are typically built on distance metrics with a linear and isotropic distribution,which may fail to provide sufficient information about the ever-changing environment with high *** paper proposes a novel magnetic field-based reward shaping(MFRS)method for goal-conditioned RL tasks with dynamic target and *** by the physical properties of magnets,we consider the target and obstacles as permanent magnets and establish the reward function according to the intensity values of the magnetic field generated by these *** nonlinear and anisotropic distribution of the magnetic field intensity can provide more accessible and conducive information about the optimization landscape,thus introducing a more sophisticated magnetic reward compared to the distance-based ***,we transform our magnetic reward to the form of potential-based reward shaping by learning a secondary potential function concurrently to ensure the optimal policy invariance of our *** results in both simulated and real-world robotic manipulation tasks demonstrate that MFRS outperforms relevant existing methods and effectively improves the sample efficiency of RL algorithms in goal-conditioned tasks with various dynamics of the target and obstacles.

关键词： Dynamic environments goal-conditioned reinforcement learning magnetic field reward shaping

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