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International Symposium on Intelligent Systems and Informatics (SISY)

作者： Jakub Kołota Jakub Bernat Paweł Czopek Agnieszka Marcinkowska Piotr Gajewski Institute of Automatic Control and Robotics Poznan University of Technology Poznan Poland Institute of Chemical Technology and Engineering Poznan University of Technology Poznan Poland

ISBN: (数字)9798350385601

ISBN: (纸本)9798350385618

In this work, the experimental analysis of a rectangular Dielectric Electroactive Polymer (DEAP) actuator is proposed. The actuators based on the electroactive membrane have been recently widely developed for various applications, especially in soft robotics. Dielectric Electroactive Polymers are a group of smart materials that allow the exploitation of new interesting features such as softness, flexibility, and silent work. In this work, a three-layer dielectric electroactive membrane preparation method and its characterization are presented. The produced actuator is analyzed by a set of measurements to obtain information about its working in multi-dimensional space.

关键词： Actuators Visualization Two-dimensional displays Soft robotics Extraterrestrial measurements Resonance Dielectric measurement Time measurement Dielectrics Polymers

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Modelling and control of a Parametric Wafer Manufacturing Process 15

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Mparkas, Dimitrios Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science National and Kapodistrian University of Athens Euripus Campus 34400 Greece Core Department National and Kapodistrian University of Athens Euripus Campus 34400 Greece

ISBN: (纸本)9798350314182

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event Systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers. ©2023 IEEE.

关键词： Discrete Event Systems Supervisory control Wafer Manufacturing Units

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Pulsating Fluidic Sensor for Sensing of Location, Pressure and Contact Area

Pulsating Fluidic Sensor for Sensing of Location, Pressure a...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Joanna Jones Marco Pontin Dana D. Damian Department of Automatic Control and Systems Engineering Sheffield Biomedical Robotics Laboratory University of Sheffield United Kingdom Sheffield Robotics University of Sheffield UK Insigneo Institute for in Silico Medicine University of Sheffield UK

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Designing information-rich and space-efficient sensors is a key challenge for soft robotics, and crucial for the development of safe soft robots. Sensing and understanding the environmental interactions with a minimal footprint is especially important in the medical context, where portability and unhindered patient/user movement is a priority, to move towards personalized and decentralized healthcare solutions. In this work, a pulsating fluidic soft sensor (PFS) capable of determining location, pressure and contact area of press events is shown. The sensor relies on spatio-temporal resistance changes driven by a pulsating conductive fluid. The sensor demonstrates good repeatability and distinction of single and multiple press events, detecting single indents of sizes greater than 1 cm, forces larger than 2 N, and various locations across the sensor, as well as multiple indents spaced 2 cm apart. Furthermore, the sensor is demonstrated in two applications to detect foot placement and grip location. Overall, the sensor represents an improvement towards minimizing electronic hardware, and cost of the sensing solution, without sacrificing the richness of the sensing information in the field of soft fluidic sensors.

关键词： Presses Fluids Soft sensors Medical services Soft robotics Robot sensing systems Hardware

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Analysis of YouTube Video Comments with NLP Methods 16

Analysis of YouTube Video Comments with NLP Methods

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16th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2024

作者： Mironela, Pirnau Iustin, Priescu Mihaela, Priescu Catalina Claudiu, Pirnau Daniel, Ghiculescu Liviu 'Titu Maiorescu' University Faculty of Informatics Department of Informatics Bucharest Romania National University of Science and Technology Politehnica Bucharest Faculty of Automatic Control and Computer Science Bucharest Romania National University of Science and Technology Politehnica Bucharest Faculty of Industrial Engineering and Robotics Manufacturing Engineering Department Bucharest Romania

ISBN: (纸本)9798350371154

This study proposes methods that can be used to examine and interpret comments that users have made after watching videos on YouTube on a particular topic. YouTube tutorials are very popular among young people. They have become an important pillar in informal education, thus contributing to the rapid acquisition of skills and knowledge. Under these circumstances, we were interested in analysing the YouTube videos comments, knowing that the platform has a continuous increase in popularity, which is also due to the opportunities of sharing them. Since ChatGPT-themed YouTube videos have seen a significant surge in popularity since 2022, we were interested to analyse some videos that approach the topics of 'ChatGPT, AI clone, AI robot and Deep Learning.' © 2024 IEEE.

关键词： Deep learning

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A Discrete, Fractional Order, Memory-Effective State Space Model of a RLC Circuit

A Discrete, Fractional Order, Memory-Effective State Space M...

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International Conference on Automation, AUTOMATION 2021

作者： Oprzędkiewicz, Krzysztof Department of Automatic Control and Robotics Faculty of Electrotechnics Automatic Control Informatics and Biomedical Engineering AGH University of Science and Technology al. A Mickiewicza 30 Krakow30-059 Poland

The paper presents a new, discrete, memory-effective state-space model of fractional RLC network. For the presented model its stability, positivity and reaction to different inital functions are analysed. Results are ... 详细信息

ISBN: (纸本)9783030748920

关键词： Timing circuits

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Mathematical Model of the Approximate Function as the Result of Identification of the Object of automatic control 27th

Mathematical Model of the Approximate Function as the Result...

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27th International Conference on Automation, AUTOMATION 2023

作者： Korobiichuk, Igor Mel’nick, Viktorij Kosova, Vera Ostapenko, Zhanna Gnateiko, Nonna Rzeplinska-Rykala, Katarzyna Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" Kyiv Ukraine Lukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP Warsaw Poland

ISBN: (纸本)9783031258435

The authors have developed and improved a mathematical model that de-scribes the impact of errors in determining the structure of the approximating function on the results of the identification of automatic control objects. The influence of high-frequency "noise" on signal characteristics and identification quality has been studied. The methods of determining the parameters of the selected approximating structure based on the system's response to a known input signal have been analyzed. Attention is paid to objects that, at first approximation, can be reduced to elementary dynamic links. Algorithms and their software implementation have been given to determine the parameters of approximating structures based on the transient and frequency characteristics of the object. An unconventional method of determining the transfer function using the least squares method has been proposed. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Approximating functions automatic control Least squares method Mathematical model Transfer function

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Modbus Vulnerability: Hard-to-Detect Sabotage Scenario ⁎

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IFAC-PapersOnLine 2024年第4期58卷 502-507页

作者： Michał Bartyś Olgierd Włodarczyk Institute of Automatic Control and Robotics Warsaw University of Technology Boboli 8 02-525 Warsaw Poland Faculty of Mechatronics Warsaw University of Technology Boboli 8 02-525 Warsaw Poland

This paper aims to present a scenario of an active and hard-to-detect cyber-attack exhibiting high potential for success on industrial communication systems. On the other hand, the paper also proposes appropriate contractions providing enhanced resilience against class of attacks which is the interest of this paper. The attack targets the majority of currently operating industrial fieldbus systems that are using Modbus communication protocol with a physical layer implemented by EIA/TIA-485 specifications. A vulnerability in the specification of the physical layer of the reference model of the Modbus communication protocol was exploited when constructing the attack scenario. To verify this scenario a physical sabotaging device was developed. This device is particularly intended for testing the detectability and isolability of attacks, and thus for evaluating the effectiveness of approaches to detecting and isolating cyber attacks. Selected results of the tests carried out are presented, as well as the recommendations for the practitioners.

关键词： cyberattack hard-to-detect attack vulnerability Modbus fieldbus sabotage

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Optimization and planning of equipment allocation on multiple projects - solution proposal in ERP system

Optimization and planning of equipment allocation on multipl...

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

作者： Mateusz Fijas Katarzyna Grobler-Dębska Edyta Kucharska Waldemar Bauer Dep. of Automatic Control and Robotics AGH University of Krakow Dep. of Product and Service Development InfoConsulting Poland Sp. z o.o. Krakow Poland Dep. of Automatic Control and Robotics AGH University of Krakow Krakow Poland

Organizations in the design and construction industry performing project work use in-house and rented equipment to carry out the work. Management of such resources requires a great deal of managerial and process knowledge due to the sharing of resources across multiple projects. The problem is distinguished by the complex management of equipment in the perspective of time, equipment workspace, equipment occupancy. So it is a complex decision-making system, requiring quick and accurate decisions processes. Enterprise Resource Planning (ERP) systems support such processes, however at the basic level and unsatisfied for system users. Businesses using to support their processes require from the system a quick and concise presentation of information to support the user’s action, clearly indicating the need for graphical presentation of data. In addition, there is a lack of tools to optimize the allocation of resources to projects. The business problem is Vehicle Routing Problem with Service Time in the Hard Time Windows constrains (VRPHTW).The paper presents mathematical formulation of the business problem, numerical experiments of optimization of resource allocations and a solution in the IFS Applications ERP system which allow graphical and numerical representation of machine load on multiple projects.

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Fractional Order vs Integer Order Transfer Function Models of a Pendulum

Fractional Order vs Integer Order Transfer Function Models o...

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International Conference on Automation, AUTOMATION 2021

作者： Oprzędkiewicz, Krzysztof Rosól, Maciej Żegleń-Wlodarczyk, Jakub Department of Automatic Control and Robotics Faculty of Electrotechnics Automatic Control Informatics and Biomedical Engineering AGH University of Science and Technology al. A Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783030748920

The paper presents the comparison of fractional order to integer order transfer function models of physical pendulum. The considered transfer functions describe the behaviour of the system around the lower, stable equilibrium point. Fractional order models are built using ORA approximation. Models were verified using real experimental data. Results of tests show that the fractional order transfer function can correctly describe the physical pendulum. Integer order models are a little bit more accurate, but they require more parameters to identify. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Linear systems

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Simulation of Ultrasonic Vibration Propagation Through Resonators for Acoustic Coagulation Intensification 27th

Simulation of Ultrasonic Vibration Propagation Through Reson...

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27th International Conference on Automation, AUTOMATION 2023

作者： Korobiichuk, Igor Shybetskyi, Vladyslav Kalinina, Myroslava Rzeplinska-Rykala, Katarzyna Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland National Technical University of Ukraine Igor Sikorsky Kyiv Polytechnic Institute Kyiv Ukraine Lukasiewicz Research Network – Industrial Research Institute for Automation and Measurements PIAP Warsaw Poland

ISBN: (纸本)9783031258435

A comprehensive computer model of ultrasonic vibrations through resonators in the air was constructed in the universal software system of analysis by finite elements method ANSYS. Analysis system "Modal" has been applied for identifying the natural frequency of the system in the frequency range of 20 000 – 25 000 Hz. The impact of the ultrasonic emitter on the deformation of the resonators was determined by using "Harmonic Response" system. Obtained acoustic pressure levels in the air created by the oscillation of resonators under the action of ultrasound. This study can be used in the design of automatic systems of air purification systems based on acoustic coagulation. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Acoustic coagulation ANSYS Resonator Ultrasound

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