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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 Poznan Poland

This paper presents a leader-follower controller combined with localization based on sensor data fusion. The leader robot has a cuboidal shape 3D printed tower on its top. ArUco markers with four different IDs are installed on the leader robot’s cuboidal tower. The follower robot has a one-degree-of-freedom rotating platform having Intel RealSense sensor on it. IMU sensors are installed on both the leader and follower robots. The data from wheel encoders and IMU sensors are fused by Extended Kalman Filter (EKF) to get the pose of robots. The proportional-integral-derivative (PID) controller rotates the Intel RealSense sensor on the follower robot to follow the ArUco markers on the leader robot. The follower robot calculates the pose of the leader robot after the detection of ArUco markers. Experiments are performed to validate the algorithm presented in the paper. Robot operating systems (ROS) is installed on both the robot’s single-board computers. The Opti-Track system is used to validate and plot the data fusion of robot poses.

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automatic recognition of emergency vehicles in images from video recorders

Automatic recognition of emergency vehicles in images from v...

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

作者： Julian Balcerek Paweł Pawłowski Krzysztof Dolny Julia Skotnicka Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan University of Technology Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this article, a system for automatic recognition, including detection and classification, of emergency vehicles based on images from video recorders is proposed. The system utilizes YOLO v8 artificial neural network. Recognition accuracy tests were conducted on a specially prepared database of frames from real recordings. It includes marked and unmarked police vehicles (which are very difficult to distinguish and typically not included in automatic recognition systems), fire, ambulance, military vehicles and other reference images. The experiments concerned the recognition of vehicle types and the state of emergency lighting. The highest value of total (for all classes) F1 measure is over 86%. In selected classes the F1 reaches 91%, while precision is 94% and sensitivity is 89%. They can be considered as satisfactory results, what indicates the possibility of using the presented system in practice.

关键词： YOLO Image recognition Sensitivity Law enforcement Databases Emergency lighting Signal processing algorithms Military vehicles Artificial neural networks Recording

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FREQUENCY DRIVEN SCREW COMPRESSORS STATE PREDICTION IN MODERN AIR control SYSTEM 38

FREQUENCY DRIVEN SCREW COMPRESSORS STATE PREDICTION IN MODER...

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38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Kasprzyk, Kamil Galuszka, Adam Department of Automatic Control ad Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Marani Sp. z o.o Szybowa 14C Zabrze41-808 Poland

ISBN: (纸本)9789492859334

The purpose of this paper is to evaluate whether neural networks can be effectively applied in compressed air supervisory control systems to provide capabilities beyond those of conventional onsite logic controllers. The study was conducted over the course of a year in a modern compressor room system consisting of three screw compressors equipped with permanent magnet motors. During this period, production levels varied from month to month. Criteria for evaluating the accuracy of neural network predictions were proposed, along with a procedure to identify an effective model. A neural network based on Long Short-Term Memory (LSTM) architecture, featuring two LSTM layers, was implemented with a dedicated loss function. This straightforward solution yielded results with minimal computational power requirements. While not all results were suitable for decision-making, in some cases, reliable and safe solutions were obtained. Periods with fewer decision-making opportunities and more consistent compressed air demand resulted in easier and more accurate future condition predictions. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Screws

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automatic recognition of dangerous objects in front of the vehicle’s windshield

Automatic recognition of dangerous objects in front of the v...

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

作者： Julian Balcerek Paweł Pawłowski Julia Cierpiszewska Łukasz Kus Piotr Zborowski Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan University of Technology Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this article, an automatic recognition system, of objects that threaten the safety of vehicle users is proposed. These objects are detected in front of the vehicle’s windshield based on images from video recorders and then classified. The tests were conducted using artificial neural networks on a specially prepared database of frames from real recordings. Recognized objects include: car wheels, car parts, birds, stones and ice. They were recognized in single- and multi-class detections for various parameters of the network model. Detection efficiency of $95 \%$ was achieved in the best case.

关键词： Databases Wheels Signal processing algorithms Artificial neural networks Birds Ice Safety Recording Automobiles Automotive components

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Event-Based Supervisors for the Maintenance Process of a Printing Machine

Event-Based Supervisors for the Maintenance Process of a Pri...

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2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

作者： Kouvakas, Nikolaos D. Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Rempelos, Stelios National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science Euboea 34400 Greece National and Kapodistrian University of Athens Core Department Euboea 34400 Greece

ISBN: (纸本)9798350318845

A set of event-based supervisors is developed to control the maintenance process of a printing machine. The Discrete Event System descriptions of the distinct tasks of the maintenance process are in the form of Finite State Machines. The desired behavior is expressed as four behavioral rules. The rules are translated to regular languages realized by appropriate supervisor automaton. The supervisor's physical realizability is proved and the blocking avoidance of the controlled printing machine is satisfied. © 2024 IEEE.

关键词： Supervisory personnel

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Visual Tracking Nonlinear Model Predictive control Method for Autonomous Wind Turbine Inspection 21

Visual Tracking Nonlinear Model Predictive Control Method fo...

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21st International Conference on Advanced robotics, ICAR 2023

作者： Amer, Abdelhakim Mehndiratta, Mohit Le Fevre Sejersen, Jonas Pham, Huy Xuan Kayacan, Erdal Department of Electrical and Computer Engineering Aarhus C8000 Denmark Gim Robotics Espoo Finland Automatic Control Group Paderborn University Department of Electrical Engineering and Information Technology Paderborn Germany

ISBN: (纸本)9798350342291

Automated visual inspection of on- and off-shorewind turbines using aerial robots provides several benefits, namely, a safe working environment by circumventing the need for workers to be suspended high above the ground, reduced inspection time, preventive maintenance, and access to hard-to-reach areas. A novel nonlinear model predictive control (NMPC) framework alongside a global wind turbine path planner is proposed to achieve distance-optimal coverage for wind turbine inspection. Unlike traditional MPC formulations, visual tracking NMPC (VT-NMPC) is designed to track an inspection surface, instead of a position and heading trajectory, thereby circumventing the need to provide an accurate predefined trajectory for the drone. An additional capability of the proposed VT-NMPC method is that by incorporating inspection requirements as visual tracking costs to minimize, it naturally achieves the inspection task successfully while respecting the physical constraints of the drone. Multiple simulation runs and real-world tests demonstrate the efficiency and efficacy of the proposed automated inspection framework, which outperforms the traditional MPC designs, by providing full coverage of the target wind turbine blades as well as its robustness to changing wind conditions. The implementation codes11https://***/open-airlab/VTNMPC-Autonomous-Wind-Turbine-Inspection are open-sourced. © 2023 IEEE.

关键词： Inspection

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Two approaches (GC-ECD and electrochemical sensors signals processing) to the determination of carbonyl compounds as markers of air pollution 26

Two approaches (GC-ECD and electrochemical sensors signals p...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Bronczyk, Karolina Adamski, Michal Dabrowska, Agata Konieczka, Adam Dabrowski, Adam Adam Mickiewicz University Faculty of Chemistry Department of Trace Analysis Poznań Poland Institute of Automatic Control and Robotics Poznan University of Technology Division of Signal Processing and Electronic Systems Poznań Poland

ISBN: (纸本)9798350304985

This article presents the application possibilities of unmanned aerial vehicles (UAVs) for the rapid and efficient determination of carbonyl compounds: formaldehyde and acetaldehyde concentrations in gaseous environmental samples. One of the described methods is the use of special electrochemical sensors (PMS5003 and SEN0231) to measure air pollution in real time (every 10 seconds). The second method involves adsorbing gas samples into sorption tubes with XAD-2 cartridges and uses chromatographic analysis: gas chromatography coupled with a selective electron capture detector (GC-ECD). The proposed analytical technique allows the determination of carbonyl compounds at low concentration levels (μg/m3) using pre-derivatization of samples with the reagent 2,3,4,5,6-pentafluorobenzyl-hydroxylamine (PFBOA). Comparing the results obtained from electrochemical sensors and chromatographic analysis, we can conclude that there are discrepancies between the determined concentrations of formaldehyde in the analyzed gas samples. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Formaldehyde

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The Sensitivity Analysis of the Fractional Uncertain Order State Space Model of the One-Dimensional Heat Transfer Process

The Sensitivity Analysis of the Fractional Uncertain Order S...

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

作者： Krzysztof Oprzędkiewicz Wojciech Mitkowski Dept of Automatic Control and Robotics al. A. Mickiewicza 30 AGH University Krakow Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The paper deals with sensitivity analysis of a new, fractional interval order model of the heat transfer in one dimensional body. In the model the derivative with respect to time is described by the fractional Caputo operator (C operator). The order of the $\mathbf{C}$ operator is not exactly known and it is described by an interval. Such a model has not been proposed yet and it is expected to properly describe e.g. disturbed measurements. For that model new senstivitity functions are proposed and used for numerical analysis. Simulations are supported by experimental data.

关键词： Analytical models Automation Sensitivity analysis Numerical analysis Robot sensing systems Data models Numerical models

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High-Accuracy Pose Estimation for 3D Reconstruction Considering the Manipulator Motion Constraints with an Eye-in-Hand RGB-D Camera 42

High-Accuracy Pose Estimation for 3D Reconstruction Consider...

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42nd Chinese control Conference, CCC 2023

作者： Zhou, Yanling Zhang, Xuebo Wang, Runhua Zhang, Shiyong Yuan, Mingxing Yuan, Jing Institute of Robotics and Automatic Information System College of Artificial Intelligence Nankai University Tianjin300350 China Nankai University Tianjin Key Laboratory of Intelligent Robotics Tianjin300350 China Key Laboratory of Industrial Internet of Things and Networked Control Ministry of Education China

ISBN: (纸本)9789887581543

Three-dimensional(3D) environmental reconstruction of the manipulator workspace is a prerequisite to enable autonomous collision-free path planning and subsequent task execution, wherein the positioning accuracy of the equipped sensor is one key issue to determine the performance of 3D reconstruction. In this paper, an eye-in-hand RGB-D camera is used to complete the manipulator workspace scanning and a novel high-accuracy pose estimation method for 3D reconstruction is proposed, which not only considers the geometric and photometric constraints constructed from the visual information used in traditional methods, but also considers the manipulator motion constraints since the positioning accuracy of the manipulator is usually high. Based on above three constraints, three error functions are constructed respectively and fused with different weights to form an integrated objective function. Then, the problem is converted into solving the least squares problem by the Gaussian Newton nonlinear iterative method, which involves the computation of Jacobian matrices and residuals of the three error functions. To this end, the mathematical derivation of their formulas considering the manipulator motion constraints are given in detail. By qualitative and quantitative experimental comparison with traditional methods, the proposed method can greatly improve the accuracy of pose estimation and 3D reconstruction, which always maintains the error within 3 cm, and show good robustness even in the challenging environments with weak texture or geometric features. (Supplemented video link: https://***/FkFTxssnWms) © 2023 Technical Committee on control Theory, Chinese Association of Automation.

关键词： Manipulators

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Informed Circular Fields for Global Reactive Obstacle Avoidance of Robotic Manipulators

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IFAC-PapersOnLine 2023年第2期56卷 1017-1022页

作者： Marvin Becker Philipp Caspers Tom Hattendorf Torsten Lilge Sami Haddadin Matthias A. Müller Institut of Automatic Control Leibniz University Hannover Germany Munich School of Robotics and Machine Intelligence and Chair of Robotics and System Intelligence Technical University Munich Germany

In this paper a global reactive motion planning framework for robotic manipulators in complex dynamic environments is presented. In particular, the circular field predictions (CFP) planner from Becker et al. (2021) is extended to ensure obstacle avoidance of the whole structure of a robotic manipulator. Towards this end, a motion planning framework is developed that leverages global information about promising avoidance directions from arbitrary configuration space motion planners, resulting in improved global trajectories while reactively avoiding dynamic obstacles and decreasing the required computational power. The resulting motion planning framework is tested in multiple simulations with complex and dynamic obstacles and demonstrates great potential compared to existing motion planning approaches.

关键词： Autonomous robotic systems Robots manipulators Guidance navigation and control Motion Planning Real-Time Collision Avoidance

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