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arXiv 2025年

作者： Bauer, Waldemar Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Poland

Fault detection in electric motors is a critical challenge in various industries, where failures can result in significant operational disruptions. This study investigates the use of Recurrent Neural Networks (RNNs) and Bayesian Neural Networks (BNNs) for diagnosing motor damage using acoustic signal analysis. A novel approach is proposed, leveraging frequency domain representation of sound signals for enhanced diagnostic accuracy. The architectures of both RNNs and BNNs are designed and evaluated on real-world acoustic data collected from household appliances using smartphones. Experimental results demonstrate that BNNs provide superior fault detection performance, particularly for imbalanced datasets, offering more robust and interpretable predictions compared to traditional methods. The findings suggest that BNNs, with their ability to incorporate uncertainty, are well-suited for industrial diagnostic applications. Further analysis and benchmarks are suggested to explore resource efficiency and classification capabilities of these architectures. © 2025, CC BY.

关键词： Recurrent neural networks

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Utilisation of Vision Systems and Digital Twin for Maintaining Cleanliness in Public Spaces

arXiv

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arXiv 2024年

作者： Wasala, Mateusz Blachut, Krzysztof Szolc, Hubert Kowalczyk, Marcin Danilowicz, Michal Kryjak, Tomasz Department of Automatic Control and Robotics AGH University of Krakow Poland

Nowadays, the increasing demand for maintaining high cleanliness standards in public spaces results in the search for innovative solutions. The deployment of CCTV systems equipped with modern cameras and software enables not only real-time monitoring of the cleanliness status but also automatic detection of impurities and optimisation of cleaning schedules. The Digital Twin technology allows for the creation of a virtual model of the space, facilitating the simulation, training, and testing of cleanliness management strategies before implementation in the real world. In this paper, we present the utilisation of advanced vision surveillance systems and the Digital Twin technology in cleanliness management, using a railway station as an example. The Digital Twin was created based on an actual 3D model in the Nvidia Omniverse Isaac Sim simulator. A litter detector, bin occupancy level detector, stain segmentation, and a human detector (including the cleaning crew) along with their movement analysis were implemented. A preliminary assessment was conducted, and potential modifications for further enhancement and future development of the system were identified. © 2024, CC BY.

关键词： Image segmentation

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Robust Triangular Decoupling Velocity Varying controllers for Four Wheel Steering Autonomous Vehicles 29

Robust Triangular Decoupling Velocity Varying Controllers fo...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

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

ISBN: (纸本)9798350361230

This study explores the challenges of achieving triangular decoupling in a specific group of linear parameter-dependent systems that have uncertain structures, with a particular emphasis on its relevance to four-wheel steering (4WS) vehicles. A new method is presented, combining a state feedback controller that includes static and time-varying elements. The main goal of this controller design is to guarantee triangular decoupling properties and Hurwitz invariability in the face of system uncertainties. The proposed method involves developing the controller and setting solvability criteria to transform the original Parameter Dependent Uncertain System into an uncertain Linear Time-Invariant (LTI) system and subsequently meeting LTI triangular decoupling characteristics. The practical significance of the results is shown by their effective use in controlling the motion of a velocity varying four-wheel steering (4WS) car model with uncertain virtual mass and cornering stiffnesses. © 2024 IEEE.

关键词： Four wheel steering

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A FIWARE based Input-Output Supervisor control Implementation 29

A FIWARE based Input-Output Supervisor Control Implementatio...

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29th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2024

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

ISBN: (纸本)9798350361230

In this paper, a FIWARE based control implementation framework for supervisory control of inputoutput models, in Discrete Event System (DES) form, will be introduced, through the case study of an industrial product transfer system having a parametric number of conveyor belts. Each conveyor belt has an actuator (motor) for the belt's clockwise move and a sensor for the detection of the presence of a product. The model of each actuator and the model of each sensor of the belt are expressed in DES form. The input-output relation between consecutive conveyor belts is formally expressed. The satisfactory cooperation between consecutive conveyor belts has been guaranteed by developing a set of two types of supervisors for each cooperative pair. The actuators and the sensors of each belt have been described as smart data models. Finally, an implementation of the proposed supervisor scheme in FIWARE has been proposed. © 2024 IEEE.

关键词： Cloud Computing Smart Data Models Supervisory control

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Three-Dimensional Analysis of the Retinal Vessels 21st

Three-Dimensional Analysis of the Retinal Vessels

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21st Polish control Conference, PCC 2023

作者： Bieda, Robert Jaskot, Krzysztof Jaworski, Marcin Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 room 625 Gliwice44-100 Poland OPTOMED Ophthalmological Center for Children and Adults Chorzów Poland

ISBN: (纸本)9783031351723

The article is an introduction to quantitative analysis retinal blood vessels. The analysis uses an active contouring system to isolate blood vessels obtained by scanning with an Angio-OTC device. It should bring possibility to make therapeutic decisions and determine the treatment prognosis that are based on the results of quantitative analysis of neovascular changes. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Blood vessels

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Configurable Dynamics of Electromagnetic Suspension by Fuzzy Takagi-Sugeno controller 21st

Configurable Dynamics of Electromagnetic Suspension by Fuzzy...

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21st Polish control Conference, PCC 2023

作者： Pilat, Adam Krzysztof Milanowski, Hubert Bieszczad, Rafal Sikora, Bartiomiej Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH-University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

This elaboration presents the synthesis of the Takagi-Sugeno type Fuzzy Logic controller realizing the programmable parameters of the state feedback controller together with the steady state current for the active magnetic levitation system. Closed-loop dynamics was calculated precisely with respect to the requested dynamics. Two cases were considered: fixed-and variable-closed-loop dynamics. The Fuzzy Logic controller was considered under four scenarios with linear, nonlinear, and constant in-range output. The study was supported by simulations and experimental investigations. The position of the levitating sphere stands as an illustration of the system in operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Dynamics

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controlling and programming a robot using virtual reality

Controlling and programming a robot using virtual reality

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

作者： Maksymilian Gorzelak Tomasz Grzejszczak Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

The paper presents software that allows a user to control and program a robot using virtual reality. The user will be equipped with a Virtual Reality kit and will be able to use it to manipulate the robot arm as if they were physically interacting with it. One key feature of the software will be the ability to set the robot in a specific position, allowing the user to create and execute complex movement sequences for the robot to follow. The use of VR technology in this context offers a unique and immersive way for users to interact with and program the robot, making it an exciting and innovative approach to robotic control.

关键词： Visualization Solid modeling Service robots Robot control Virtual reality Programming Manipulators

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One-Swing Stabilizer of the Inverted Pendulum on a cart

One-Swing Stabilizer of the Inverted Pendulum on a cart

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International Workshop on Robot Motion and control (RoMoCo)

作者： Mohammed Safarini Marcin Nowicki Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper addresses the stabilization task of the inverted pendulum on a cart, which is a classical example of unstable control system. We used partial linearization to bring the system into a normal form for which we propose a one-swing stabilizer. Then, through a parametric identification of a laboratory test-bed we acquired a reliable model that served us to prepare experiments. Experimental results and simulations confirmed the realistic performance of the proposed controller in stabilizing the system at the unstable equilibrium point with only one swing of the pendulum.

关键词： Robot motion Conferences control systems Reliability Task analysis

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Analysis of the effectiveness of object recognition algorithms using a thermal imaging camera

Analysis of the effectiveness of object recognition algorith...

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Electrical, Computer, Communications and Mechatronics Engineering (ICECCME), International Conference on

作者： Jaroslaw Kozik Aleksander M. Nawrat Krzysztof Daniec Department of Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350391183

ISBN: (纸本)9798350391190

The work presents a comparison of the object recognition methods based on three algorithms (Eigenface, Fisherfaces, LBPH - Local Binary Patterns Histograms), which were extended to include thermal imaging. The aim of the work is to select the most effective analytical method in changing environmental conditions and implement it in the form of software for a technological project called OctoView. The system placed on a drone, combined with efficient processing units and Jetson NANO microcomputers in cooperation with a multi-vision system, will provide comprehensive analysis and image assessment of “threats” located in the observed area, recording field events, tactical risk analysis and reports, monitoring areas border areas, status and position and type of own resources in border (or other) sections. This project is dedicated to military, border, customs, fire brigade and police applications. The purpose of implementing the software is to increase security in border areas through continuous image observation and analysis [1]–[3], as well as monitoring threats and their dynamics.

关键词： Image recognition Heuristic algorithms Software algorithms Thermal engineering Cameras Software Thermal analysis Object recognition Security Monitoring

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An Open-Source Rotating Device for Relative Localization in Multi-Agent Systems

An Open-Source Rotating Device for Relative Localization in ...

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International Workshop on Robot Motion and control (RoMoCo)

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

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

This paper presents an open-source one-degree-of-freedom rotating device for multi-robot systems. The function of the device is to facilitate mutual, precise localization of robots in a group, using a limited number of sensors. The device can be mounted on the robot but also plays the role of a static observer and landmark if placed in the workspace. The presented approach can be used alongside a variety of control algorithms for teams of mobile robots. Each rotating device has 10 ArUco markers pasted on it. The aim of the rotating device is to determine the pose of another device in the environment. The mechanical design, electrical circuit, and source codes are uploaded on the web sites that provide other researchers with an easy way to replicate the solution. The authors have mentioned two types of controllers to track the ArUco markers on other rotating devices. One controller is Active Disturbance Rejection control (ADRC) and the other one is a Proportional-Integral-Derivative (PID) controller. Extended Kalman Filter (EKF) is used to filter the data from ArUco marker detection and to calculate the optimized pose of another device in the environment. The Robot Operating System (ROS) is used to perform the experiments and to connect the rotating device with different controllers.

关键词： Location awareness Robust control Robot motion Performance evaluation Source coding Operating systems Robot sensing systems

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