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arXiv 2022年

作者： Wzorek, Piotr Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Kraków Poland Department of Digital Systems Silesian University of Technology Gliwice Poland

In recent years, event cameras (DVS – Dynamic Vision Sensors) have been used in vision systems as an alternative or supplement to traditional cameras. They are characterised by high dynamic range, high temporal resolution, low latency, and reliable performance in limited lighting conditions – parameters that are particularly important in the context of advanced driver assistance systems (ADAS) and self-driving cars. In this work, we test whether these rather novel sensors can be applied to the popular task of traffic sign detection. To this end, we analyse different representations of the event data: event frame, event frequency, and the exponentially decaying time surface, and apply video frame reconstruction using a deep neural network called FireNet. We use the deep convolutional neural network YOLOv4 as a detector. For particular representations, we obtain a detection accuracy in the range of 86.9-88.9% mAP@0.5. The use of a fusion of the considered representations allows us to obtain a detector with higher accuracy of 89.9% mAP@0.5. In comparison, the detector for the frames reconstructed with FireNet is characterised by an accuracy of 72.67% mAP@0.5. The results obtained illustrate the potential of event cameras in automotive applications, either as standalone sensors or in close cooperation with typical frame-based cameras. © 2022, CC BY.

关键词： Cameras

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Development of Unmanned Cargo VTOL Aircraft 1

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59th Symposium on Engineering Modelling in Mechanics, 2020

作者： Czyba, Roman Gorol, Zbigniew Lemanowicz, Marcin Pawlak, Mariusz Sikora, Adam Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Mechanical Engineering Department of Theoretical and Applied Mechanics Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland Faculty of Chemistry Department of Chemical Engineering and Process Design Silesian University of Technology Akademicka Street 2A Gliwice44-100 Poland

ISBN: (数字)9783030684556

ISBN: (纸本)9783030684549

The aim of the paper is to present a design cycle regarding to the construction of an unmanned cargo aircraft with own weight up to 25 kg, operating range of up to 100 km and AGL operating ceiling of up to 1 km. The task of the project team was to plan the design cycle, perform analytical calculations and CFD simulations, and finally to build an unmanned aircraft capable of lifting cargo. At the same time, a number of assumptions and technical regulations regarding constructions had to be met, which are specified in legal regulations regarding the given class of unmanned aerial vehicles. In order to achieve optimal UAV aerodynamic properties, including maximization of the payload while minimizing the own weight, aerodynamic calculations and CFD simulations were performed. © 2021, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Unmanned aerial vehicles (UAV)

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New On-line Algorithms for Modelling, Identification and Simulation of Dynamic Systems Using Modulating Functions and Non-asymptotic State Estimators: Case Study for a Chosen Physical Process 21st

New On-line Algorithms for Modelling, Identification and Sim...

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21st International Conference on Computational Science, ICCS 2021

作者： Byrski, Witold Drapala, Michal Byrski, Jędrzej Department of Automatic Control and Robotics AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland Department of Applied Computer Science AGH University of Science and Technology Al. Mickiewicza 30 Kraków30-059 Poland

ISBN: (纸本)9783030779696

The paper presents an advanced application of computation methodology with complicated algorithms and calculation methods dedicated to optimal identification and simulation of dynamic processes. These models may have an unknown structure (the order of a differential equation) and unknown parameters. The presented methodology uses non-standard algorithms for identification of such continuous-time models that can represent linear and non-linear physical processes. Typical approaches, presented in the literature, most often utilize discrete-time models. However, for the case of continuous-time differential equation models, in which both, the parameters and the derivatives of the output variable are unknown, the solution is not easy. In the paper, for the solution of the identification task, the convolution transformation of the differential equation with a special Modulating Function will be used. Also, to be able to properly simulate the behaviour of the process based on the obtained model, the exact state integral observers with minimal norm will be used for the reconstruction of the exact value of the initial conditions (not their estimate). For multidimensional process case, with multiple control signals (many inputs), additional problems arise that make continuous identification and observation of the vector state (and hence simulation) impossible by the use of the standard methods. Application of the above-mentioned methods for solving this problem will be also presented. Both algorithms, for the parameter identification and the state observation, will be implemented on-line in two independent but cooperating windows that will simultaneously move along the time axis. The presented algorithms will be tested using data collected during the heat exchange process in an industrial glass melting installation. © 2021, Springer Nature Switzerland AG.

关键词： Differential equations

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Robust Finite control-Set Model Predictive control for Power Quality Enhancement of a Wind System Based on the DFIG Generator

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Energies 2023年第3期16卷 1422页

作者： Alami, Houda El Bossoufi, Badre Mahfoud, Mohammed El Bouderbala, Manale Majout, Btissam Skruch, Pawel Mobayen, Saleh Faculty of Sciences Dhar El Mahraz Sidi Mohammed Ben Abdellah University Fez30070 Morocco Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Graduate School of Intelligent Data Science National Yunlin University of Science and Technology University Road Section 3 Douliou640301 Taiwan

For many academics, it has proven difficult to operate a wind energy conversion system (WECS) under changeable wind speed while also enhancing the quality of the electricity delivered to the grid. In order to increase the effectiveness and performance of the DFIG-based Wind Energy Conversion System, this research suggests an updated model predictive control technique. This study intends to regulate the generator in two ways: first, to follow the reference wind speed with high precision using the rotor side and grid side converters;second, to reduce system error. The suggested approach optimizes a value function with current magnitude errors based on the discrete mathematical model to forecast the converter’s switching state. In this system, the converter switching states are used directly as control inputs. Thus, the converter may be immediately subjected to improved control action. The key advantage of the suggested strategy over current FCS-MPC methods is error reduction. The originality of this research is in the proposal of a cost function that allows for both successful results and computation time minimization. To achieve this, the system is first presented, followed by a description of the predictive control, and then this method is applied to the rotor side control and grid side control. To demonstrate the efficacy and robustness of the suggested technique, a random wind profile was used to examine the system’s performance with a unitary power factor. This was done in order to compare the results with other controls that have been reported in the literature. The simulation results, which were conducted using a 1.5 kW DFIG in the MATLAB/Simulink environment, demonstrate that the FCS-MPC technique is highly effective in terms of speed, accuracy, stability, and output current ripple. © 2023 by the authors.

关键词： Model predictive control

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Towards clean energy: Design and integration strategy of photovoltaics for residential electrification

Journal of Engineering Research (Kuwait)

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Journal of Engineering Research (Kuwait) 2024年

作者： Mahmud, Dewan Mahnaaz Sule, Emmanuel Eragbe Wang, Teng Thomas, Vinu Department of Automatic Control and Robotics École Centrale de Nantes 1 Rue de la Noë Nantes 44300 France Laboratoire des Sciences du Numérique de Nantes (LS2N) Ecole Centrale de Nantes 1 Rue de la Noë Nantes 44300 France

Rapid global population growth and rising energy demands are causing environmental damage, particularly in developing countries dealing with climate change, pollution, and fuel shortages. Adopting cleaner, more sustainable energy sources could be one solution to this problem. In the context of hybrid energy systems, one proposition is to incorporate renewables into residential developments. This manuscript proposes a grid-connected hybrid (GCH) photovoltaic (PV) system for residential electrification in Dhaka, Bangladesh, and evaluates the technical feasibility. The proposed design includes four scenarios for PV and battery energy storage systems (BESS). The primary goals of the assessment include lowering net present cost (NPC), cost of energy (COE), and unmet load, as well as reducing grid dependence, lowering greenhouse gas (GHG) emissions, and providing grid support. Solar irradiation fluctuations, demand variations, and voltage sag are all factors to consider when evaluating technical feasibility. The four cases were simulated using hybrid optimization with HOMER Pro, to achieve a system that maximizes renewable energy utilization. The analysis concludes that the GCH PV system is best suited for residential power needs, with lower COE, NPC, and grid dependency. The system achieves a COE of $0.0643/kWh, lowers GHG emissions, and attains a renewable fraction of 40%. Technical feasibility is verified using MATLAB-Simulink simulations at the point of common coupling (PCC), which include solar irradiation variations, active and reactive power adjustments based on demand, and voltage sag analysis for grid integration. The proposed system is cost-effective, convenient, and sustainable, with few salvageable components. © 2024 The Authors

关键词： Clean energy Greenhouse gas Grid integration Photovoltaics Power adjustment

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Off-track reduction control for roundabout negotiation with multi-steering N-trailers

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IFAC-PapersOnLine 2020年第2期53卷 15687-15692页

作者： Maciej Marcin Michałek Institute of Automatic Control and Robotics (IAR) Poznan University of Technology (PUT) Poznań Poland

Negotiating a roundabout with long articulated vehicles without any specialized control strategy may be dangerous or even impossible due to an excessively large off-track caused by the towed trailers. The paper provides a generic kinematic steering strategy for this type of maneuver executed with articulated vehicles towing an arbitrary number of trailers equipped with steerable wheels, and attached through an arbitrary hitching type (on- or off-axle one). The control strategy requires a feedback from the internal (easily measurable) configuration variables of a vehicle, guarantees zero off-tracking in steady motion conditions, and improves a transient response of a vehicle chain by delaying the reference steering signals with the dynamically (online) scheduled time-delays. A resultant control performance is illustrated by simulation results.

关键词： off-track reduction multi-steering N-trailer kinematics roundabout negotiation

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EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for Edge Devices

EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for...

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IEEE International Conference on Bioinformatics and Biomedicine (BIBM)

作者： Fuquan Zhang Yu Wu Xinxin Xu Chuansheng Wang Minjia Ma Antoni Grau Jiayan Huang School of Computer and Big Data Minjiang University Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of New Engineering Industry Putian University Putian China Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain School of Robotics Xi’an Jiaotong-Liverpool University Suzhou China College of New Engineering Industry Putian University Fujian Ruituo Information Technology Limited Company Putian China

ISBN: (数字)9798350386226

ISBN: (纸本)9798350386233

Fatigue driving is a common potential traffic safety hazard. To detect and analysis the driver Fatigue degree in real-time, more attention have been increasing paid to application research of EEG fatigue detection device. However, existing methods suffer from complex model structure or large-scale model parameters. In the other words, they requires high computational consumption and large memory footprint, which creates a contradiction between model and portable EEG machine with limited hardware resources. In this work, we take both time and frequency domains of EEG signal into account and design an lightweight and efficient driver fatigue detection network based on GCN (EEG-GNet), which is available edge-end device application. Experiments on 4th Raspberry Pi on a public baseline dataset show that our EEG-GNet outperforms the state-of-the-art methods and takes good tradeoff between detection accuracy and resource consumption. Our EEG-GNet provides a new potential opportunity for future applications in practical portable/wearable (P/W) devices.

关键词： Accuracy Computational modeling Image edge detection Frequency-domain analysis Fatigue Brain modeling Feature extraction Electroencephalography Real-time systems Time-domain analysis

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A Generic Single-Source Domain Generalization Framework for Fault Diagnosis via Wavelet Packet Augmentation and Pseudo-Domain Generation

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IEEE Internet of Things Journal 2025年

作者： Sun, Yawei Tao, Hongfeng Ni, Yuanzhi Stojanovic, Vladimir Wuxi214122 China University of Kragujevac Faculty of Mechanical and Civil Engineering Department of Automatic Control Robotics and Fluid Technique Kraljevo36000 Serbia

During real-time production in industrial Internet of Things systems, equipment changes its operating speed due to changing operating conditions. And dynamic speed changes of rotating machinery under fluctuating workloads often lead to domain changes of vibration signals, which will directly lead to degradation of fault diagnostic model performance. Furthermore, the acquisition of data from multiple domains in real industrial scenarios is challenging due to the expense of collecting data from all possible working conditions. Consequently, applying diagnostic models trained using a single-source domain directly to an unknown target domain is a very challenging single domain generalization problem. Therefore, a generic single-source domain generalization framework via wavelet packet augmentation and pseudo-domain generation for fault diagnosis under unknown operating conditions is proposed in this paper. Pseudo-domain generation involves augmenting single-source domain by integrating data generetion model, thereby enhancing prediction accuracy. Furthermore, a wavelet packet augmentation method is proposed. Initially, the original signal is decomposed to obtain high and low frequency information. Subsequently, the high and low frequency information within the batch are linearly interpolated, respectively. Consequently, the interpolated high and low frequency information is then reconstructed to yield enhanced samples. The experimental results on four datasets show that the proposed framework can effectively improve the robustness of the generalization ability of fault diagnosis under unknown operating environments. © 2014 IEEE.

关键词： Wavelet analysis

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Design of Terminal Sliding Mode controllers with Application to Automotive control Systems with Model Uncertainties 1

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20th Polish control Conference, PCC 2020

作者： Skruch, Pawel Department of Automatic Control and Robotics AGH University of Science and Technology al. A. Mickiewicza 30/B1 Kraków30-059 Poland

ISBN: (数字)9783030509361

ISBN: (纸本)9783030509354

The paper describes the design of terminal sliding model controllers for several types of dynamical systems with model uncertainties. First- and second-order representations of the systems are investigated. These representations are mathematically described by matrix differential equations. Both linear and non-linear systems are considered. Sliding surfaces are defined by equations involving the state of the system and the expected trajectory. Finite-time stability of the corresponding closed-loop systems is proved via Lyapunov stability theory. Applications of the designed controllers are illustrated on automotive control systems. © 2020, Springer Nature Switzerland AG.

关键词： Linear systems

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Planning a haemodialysis process by minimum time control of hybrid systems with sliding motion

Planning a haemodialysis process by minimum time control of ...

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IEEE Conference on Decision and control

作者： Radosław Pytlak Damian Suski Faculty of Mathematics and Information Science Warsaw University of Technology Warsaw Poland Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9781665436601

The aim of the paper is to provide a computational tool for planning a haemodialysis process. It is shown that optimization methods can be used to obtain the most effective treatment focused on removing both urea and phosphorus during the process. Our approach to the planning process is based on a model which takes into account a rebound phenomenon and that results in a hybrid model in which sliding motion is likely to occur. For such a model we construct an optimization problem and a computational method for solving it. The presented approach to optimal control problems with hybrid systems is different from the others in several aspects. First of all, it is assumed that a hybrid system can exhibit sliding modes. Secondly, the system’s motion on the switching surface is described by index 2 differential–algebraic equations and that guarantees accurate tracking of the sliding motion surface. Thirdly, the gradients of the problem’s functionals are evaluated with the help of adjoint equations. The adjoint equations presented in the paper take into account sliding motion and exhibit jump conditions at transition times. The stated adjoint equations are used in a globally convergent algorithm which generates a sequence of controls whose accumulation points satisfy the weak maximum principle for optimal control problems with hybrid systems. The paper presents numerical results of solving haemodialysis planning problem.

关键词： Tracking Sensitivity analysis Computational modeling Process control Optimal control Optimization methods Switches

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