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检索条件"机构=Automatic Control and Robotics"

共 990 条记录，以下是91-100 订阅

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Jakub Suder Tomasz Marciniak Division of Electronic Systems and Signal Processing Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań Poland

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%.

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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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Prototype of mobile agrotechnical sorting robot with a vision system

Prototype of mobile agrotechnical sorting robot with a visio...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Wiktor Nowacki Dominik Gołemberski Piotr Góral Adam Dóbrowski Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

This article presents a prototype of an agrotechnical robot with a vision system, intended for sorting fruit and vegetables. Its aim is to separate a specific color of vegetables or fruit thanks to the use of a vision system with a dedicated classification algorithm. The robot, moving within the limits of the granted autonomy, on a separate part of the line with a special design, carries out a programmed sorting task with a gripper. The designed and constructed structure of the robot allows for sorting all main vegetables and spherical fruits.

关键词： Training Machine vision Laboratories Signal processing algorithms Prototypes Classification algorithms Mobile robots Grippers Robots Sorting

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EMOTION RECOGNITION USING BIOMEDICAL SIGNALS IN A MULTIMODAL EMOTION ANALYSIS SYSTEM FOR SOCIAL ROBOTS 38

EMOTION RECOGNITION USING BIOMEDICAL SIGNALS IN A MULTIMODAL...

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38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Skowroński, Kamil Galuszka, Adam Probierz, Eryka Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Silesian University of Technology Gliwice Poland Lukasiewicz Research Network Institute of Innovative Technologies EMAG Katowice Poland

ISBN: (纸本)9789492859334

The main purpose of this paper is to review available datasets and artificial intelligence algorithms for the problem of emotion recognition using biomedical signals and to implement the best-adapted solution to a multimodal emotion analysis system. The review takes into account the practical requirements for using solutions in a multimodal emotion analysis system for social robots - the ease of use of devices for collecting biomedical data and the method of categorizing data according to Paul Ekman’s theory. The latest 6 datasets from recent years were reviewed for the given problem in terms of physiological signals, emotion categorization, number of people and stimuli. To better illustrate the work in the given field, a comparison was made of 5 different solutions containing classic artificial intelligence algorithms and popular neural networks. Ultimately, one dataset was selected on which several of the compared solutions were tested and implemented into a multimodal emotion analysis system. The obtained comparison results indicate that despite a large number of diverse datasets from recent years, there are still few publicly available solutions with very high accuracy, especially in the case of neural networks. The proposed issues and solutions may draw more attention to the improvement of social robot systems responsible for communication and companionship. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Social robots

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Synchronization of Four Different Chaotic Communication Systems with the Aim of Secure Communication 21st

Synchronization of Four Different Chaotic Communication Syst...

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21st Polish control Conference, PCC 2023

作者： Abadi, Ali Soltani Sharif Hosseinabadi, Pooyan Alinaghi Ordys, Andrew Institute of Automatic Control and Robotics Faculty of Mechatronics Warsaw University of Technology Warsaw Poland School of Engineering and Information Technology The University of New South Wales CanberraACT Australia

ISBN: (纸本)9783031351693

The synchronization of systems with the goal of securing communications is a very interesting and recent topic. This paper proposes the Fast Terminal Sliding Mode control (FTSMC) method to design control inputs for synchronizing four different communication systems, Volta, Coullet, Chen and ***. Synchronization of these systems can be used in a variety of applications. Some of the key features of the proposed designs are that these inputs are robust against the variety of uncertainties of the system model and external disturbances. Also, the finite time stability of these systems is guaranteed by using designed inputs. Additionally, these inputs eliminate destructive and undesirable chattering phenomena thoroughly. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Synchronization

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Adaptive Sliding Mode control of Traffic Flow in Uncertain Urban Networks 21st

Adaptive Sliding Mode control of Traffic Flow in Uncertain U...

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21st Polish control Conference, PCC 2023

ISBN: (纸本)9783031351693

One of the most significant issues in the cities is the heavy traffic that everyday citizens are involved with. In recent decades, various sciences, such as computing science and control and traffic science have been incorporated to address this problem. In this paper, theoretically, the Terminal Sliding Mode control (TSMC) method is proposed to control the traffic flow in urban networks. Firstly, a two regions model for urban traffic with various uncertainties and external disturbances is considered;subsequently, the Lyapunov stability method is employed to control the urban traffic flow in this model by using designed control inputs and adaptive laws. Finally, a numerical simulation for a case study is performed in Simulink/MATLAB to reveal the effectiveness of the proposed designs in this paper. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Simulink

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Robot-CT Scanning Oriented Synchronous Trajectory Planning of a Dual-Manipulator System 42

Robot-CT Scanning Oriented Synchronous Trajectory Planning o...

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42nd Chinese control Conference, CCC 2023

作者： Zhang, Shuaikang Yuan, Mingxing Zhang, Xuebo Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things & Networked Control Ministry of Education Chongqing400065 China

ISBN: (纸本)9789887581543

At present, most CT scanning systems adopt the traditional horizontal O-frame, suspension or C-arm structures, which can not balance the flexibility and functionality. With the development of robot technology, CT scanning systems based on manipulators have gradually emerged. However, limited by the motion accuracy of the manipulator, most researchers sacrifice the flexibility or increase the mass to improve the accuracy. To overcome this limitation, a new master-slave teaching-based scanning method is proposed to improve the scanning accuracy of the dual-manipulator Robot-CT system with the auxiliary function of rigid links. First, a rigid link is employed to connect the end effectors of the two manipulators. Next, the sampled trajectory of each joint of the slave-manipulator is recorded while the master-manipulator pulls the slave-manipulator to perform a circular motion. Finally, when carrying out the scanning, the dual-manilupator system reproduces the recorded joint trajectory without the rigid element, thereby improving the accuracy of the dual-manipulator CT scanning system to achieve a high-accuracy spatiotemporal synchronization and alignment of pose. To this end, a fifth-order spline interpolation is used to interpolate the sampled trajectory of each joint of the slave-manipulator, which allows it to perfectly reproduce the joint trajectory recorded during the teaching process and ensures the smoothness of the angular velocity and acceleration curves. Simulations are investigated and the corresponding results confirm the effectiveness of the trajectory planning method of the slave-manipulator. © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Mixture Based Classifier Using Gaussian Processes for Induction Motor Diagnosis

Mixture Based Classifier Using Gaussian Processes for Induct...

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Annual Conference of Industrial Electronics Society

作者： Adrian Dudek Kacper Jarzyna Jerzy Baranowski Dept. of Automatic Control and Robotics AGH University of Kraków Kraków Poland

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

This paper explores the use of Gaussian Processes (GPs) and Gaussian Mixture Models (GMMs) for diagnosing induction motors. GPs provide flexible, non-linear models that handle noisy data, while GMMs offer robust probabilistic classification by modeling data as mixtures of Gaussian distributions. By integrating Bayesian inference with GMMs and utilizing Stan for complex model management, the study enhances classification accuracy. Experimental data from induction motors under various conditions were analyzed, identifying patterns indicative of motor health. The approach, leveraging synthetic data generation, demonstrates effectiveness in proactive maintenance and fault detection, reducing downtime and costs.

关键词： Induction motors Uncertainty Systematics Mixture models Predictive models Probabilistic logic Data models Maintenance Noise measurement Synthetic data

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Computationally Effective Approximation of Integral Curves Lengths for Target Assignment of Mobile Robots Moving in Task-Space with Obstacle

Computationally Effective Approximation of Integral Curves L...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Arpit Joon Wojciech Kowalczyk Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3A Poznan Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The paper proposes a new approach to distributed target assignment for a group of robots operating in a space with a circular obstacle. The simple approach of comparing functions of Cartesian distances, which works well in free space, does not give good results if a static obstacle exists. The authors aimed to find an approach that is as computationally effective as possible and yet produces a sufficiently good result. The proposed solution makes use of city block distance expressed in a specific reference frame that depends on the mutual positioning of the robot, the target, and the obstacle. In addition to presenting the idea, the results of numerical simulations were given to confirm the effectiveness of the proposed algorithm.

关键词： Robot motion Automation Heuristic algorithms Urban areas Euclidean distance Numerical simulation Approximation algorithms

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Generating Continuous Paths On Learned Constraint Manifolds Using Policy Search

Generating Continuous Paths On Learned Constraint Manifolds ...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Ethan Canzini Simon Pope Ashutosh Tiwari Department of Automatic Control & Systems Engineering University of Sheffield UK Airbus Robotics Airbus UK

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Many robotic manipulation tasks are constrained due to kinematic limitations placed on the object being manipulated. This increases the complexity of manipulation tasks that operate in high dimensions, leading to increased risk that sampling based planners are unable to find optimal solutions. Whilst trajectory optimisation methods provide guaranteed optimal solutions when implementing constraints, they only provide locally optimal solutions in sequential decision-making and struggle to provide globally optimal paths. These constraints can be incorporated into the probabilistic latent spaces by using demonstrations that satisfy the constraint function. However whenever constraints change or a manipulator must perform different tasks the network must be retrained to accommodate the new constraints. In this paper, we provide an approach that allows the training of a single learned manifold that can be augmented to determine the constraint manifold for the manipulation task. Using this manifold, the geodesic between two points can be computed using policy search to solve the cost function associated with the geodesic curve length ${\mathcal{L}_\gamma }$. We provide comparisons in terms of path length against popular path planning algorithms with different kinematic constraints, demonstrating our method’s ability to find optimal shortest paths on constraint manifolds.

关键词： Manifolds Training Runtime Optimization methods Kinematics Reinforcement learning Probabilistic logic Real-time systems Trajectory Splines (mathematics)

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