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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Klimaszewski, Jan Department of Mechatronics Institute of Automatic Control and Robotics Warsaw University of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

In the face of the Fourth Industrial Revolution (Industry 4.0), collaborative robots have become one of the key pillars of development. Thanks to their sensors, they allow increased flexibility and safety while working in a shared space with humans. One such sensor is the electronic skin (e-skin), which enhances human-robot collaboration through physical contact. This paper presents the developed versatile robotic workstation that allows, among other things, the calibration of e-skin touch measurements. In particular, the problems encountered with the use of a standard industrial robot are presented and ways to solve them are discussed. The presented approach allows the automatic acquisition of calibration measurements of e-skin sensors within the reach of the robot. © 2023, The Author(s).

关键词： Robot Operating System

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NARX Recurrent Neural Network Model of the Graphene-Based Electronic Skin Sensors with Hysteretic Behaviour 10th

NARX Recurrent Neural Network Model of the Graphene-Based ...

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Proceedings of the 10th Machine Intelligence and Digital Interaction Conference, MIDI 2022

作者： Możaryn, Jakub Department of Mechatronics Institute of Automatic Control and Robotics Warsaw Univeristy of Technology ul. Sw. A. Boboli 8 Warsaw02-525 Poland

ISBN: (纸本)9783031376481

The electronic skin described in the article comprises screen-printed graphene-based sensors, intended to be used for robotic applications. The precise mathematical model allowing the touch pressure estimation is required during its calibration. The article describes the recurrent neural network model for graphene-based electronic skin calibration, in which parameters are not homogeneous, and the touch force characteristics have visible hysteretic behaviour. The presented method provides a simple alternative to the models known in the literature. © 2023, The Author(s).

关键词： Recurrent neural networks

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Combined Filters Design, Using the Principle of Internal Models

Combined Filters Design, Using the Principle of Internal Mod...

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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Gaiduk, Anatoly Denisenko, Darya Prokopenko, Nikolay Southern Federal University Scientific Design Office Robotics and Control Systems Department of Automatic Control Systems Rostov-on-Don Taganrog Russia Department of scientific research Don State Technical University Rostov-on-Don Russia Department of Automatic Control Systems Southern Federal University Rostov-on-Don Russia Don State Technical University Department of Information Systems and Radio Engineering Rostov-on-Don Russia

To design active analog, discrete-analog and digital filters a new method is suggested, taking into account the conditions of selective invariance and using the internal models principle of the dynamic systems. For this purpose, the structure of each basic filter ensures the presence of an explicit spectral model of the filtered signal. Such a filter is selectively invariant, and this property depend only on the spectrum-setting parameters and do not depend on other parameters. It is suggest-ed to carry out the design of the combined selective filters by integration of the suggested basic second-order filters, focusing on the log magnitude plot of the latter. This makes possible to minimize the order of the combined both analog and digital filters. The combined selective filters are distinguished by high stability of selective properties and can be used in the systems for measurement, signal processing, data transmission, as well as automatic and automated control of various social, production and special facilities. © 2024 IEEE.

关键词： Wiener filtering

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Switching LPV Approach for Analysis and control of TCP-based Cyber-Physical Systems under DoS Attack

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IFAC-PapersOnLine 2024年第4期58卷 711-716页

作者： Soheila Barchinezhad Vicenç Puig Marcin Witczak Automatic Control Group Institute of Robotics (IRI) UPC-CSIC Barcelona Spain Institute of Control and Computation Engineering University of Zielona Góra Poland

Cyber-physical systems (CPSs) integrate controllers, sensors, actuators, and communication networks. Tight integration with communication networks makes CPSs vulnerable to cyberattacks. In this paper, we investigate the impact of denial of service (DoS) attack on the stability of cyber physical systems by considering the transmission control protocol (TCP) and extract a sufficient stability condition in linear matrix inequality (LMI) form. To this end, we model the TCP-CPS under DoS attack as a switching LPV time-delay system by using the Markov jump model. Then, we design a parameter-dependent stabilizing controller for CPS under DoS attack, by considering the network parameters. Finally, we prove efficiency and the feasibility of our findings through a well-known case study in the networked control systems literature.

关键词： Cyber Physical System Transmission control Protocol Denial of Service Stability Analysis Markov Jump Model Linear Parameter Varying

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Analog, Programmable Switched Capacitor FIR Filter Based on Rotator Architecture Implemented in CMOS Technology 26

Analog, Programmable Switched Capacitor FIR Filter Based on ...

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

作者： Pawlowski, Pawel Dlugosz, Rafal Radkowski, Marek Watly, Mateusz Dabrowski, Adam Poznań University of Technology Division of Signal Processing and Electronic Systems Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznań60-965 Poland Bydgoszcz University of Science and Technology Faculty of Telecommunication Computer Science and Electrical Engineering Bydgoszcz85-796 Poland

ISBN: (纸本)9798350304985

The paper presents project and its verification of a prototype integrated circuit containing an analog, programmable finite impulse response (FIR) filter, implemented in CMOS 350 nm technology. The structure of the filter is based on the switched capacitor technique. In circuits of this type, one of main challenges is an efficient implementation of filter coefficients, which result from several factors described in this work. When implementing such filters as programmable circuits, the values of their coefficients have to be limited to a selected range, i.e. a given resolution in bits. In the implemented prototype filter, the filter coefficients are represented by 6 bits in sign-magnitude notation, so they can take 63 different values only. In such filters, it is not possible to directly implement any frequency response of the filter. Each time, it is necessary to properly round the theoretical values of the coefficients so that they fit into the available range of discrete values resulting from the implementation. The authors of the work designed an algorithm that allows such matching. The paper also presents results of measurements of the prototype chip. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： FIR filters

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DESIGN AND IMPLEMENTATION OF AN EEG-BASED BCI PROSTHETIC LOWER LIMB USING RASPBERRY PI 4

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical Engineering and Computer Science 2023年第3期85卷 353-366页

作者： Drăgoi, Marius-Valentin Hadăr, Anton Goga, Nicolae Grigore, Lucian-Ștefăniță Ștefan, Amado Ali, Haider Abdullah Faculty of Industrial Engineering and Robotics University POLITEHNICA of Bucharest Romania Academy of Romanian Scientists Technical Sciences Academy of Romania Romania Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania Military Technical Academy FERDINAND I Bucharest Romania

This paper presents a design and implementation of a mind-controlled prosthetic lower limb prototype to help leg amputees who lost their lower limbs due to different reasons. The system contains a prosthetic lower limb equipped with two servomotors, a motor driver module, a Raspberry Pi, a neuro-headset, and a computer. The prosthetic lower limb prototype is a low-cost 3D-printed prosthetic controlled by brain signals. The prototype has two degrees of freedom for the knee and ankle, which are flexion, extension, plantarflexion, and dorsiflexion. The implemented prototype has been tested on a healthy subject in real-time using the detected brain signals. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Electroencephalography

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Decision Making For Multi-Robot Fixture Planning Using Multi-Agent Reinforcement Learning

TechRxiv

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TechRxiv 2024年

作者： Canzini, Ethan Auledas-Noguera, Marc Pope, Simon Tiwari, Ashutosh Department of Automatic Control & Systems Engineering University of Sheffield United Kingdom Airbus Robotics

Within the realm of flexible manufacturing, fixture layout planning allows manufacturers to rapidly deploy optimal fixturing plans that can reduce surface deformation that leads to crack propagation in components during manufacturing tasks. The role of fixture layout planning has evolved from being performed by experienced engineers to computational methods due to the number of possible configurations for components. Current optimisation methods commonly fall into sub-optimal positions due to the existence of local optima, with data-driven machine learning techniques relying on costly to collect labelled training data. In this paper, we present a framework for multiagent reinforcement learning with team decision theory to find optimal fixturing plans for manufacturing tasks. We demonstrate our approach on two representative aerospace components with complex geometries across a set of drilling tasks, illustrating the capabilities of our method;we will compare this against state of the art methods to showcase our method’s improvement at finding optimal fixturing plans with 3 times the improvement in deformation control within tolerance bounds. © 2024, CC BY.

关键词： Reinforcement learning

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Delayless controllers for Exact Model Matching and Disturbance Rejection of Time Delay Systems with Measurable and Non-measurable Disturbances 12

Delayless Controllers for Exact Model Matching and Disturban...

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12th International Conference on Modern Circuits and Systems Technologies, MOCAST 2023

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

ISBN: (纸本)9798350321074

Delayless control design for time delay systems is an attractive direction for networked control systems as well as other cyber physical applications. In the present paper, the problem of Exact Model Matching with simultaneous Disturbance Rejection (EMMDR) is studied for the case of left-invertible general neutral multi delay systems with measurable and non-measurable disturbances, via two types of delayless controllers. The first type of controllers is a dynamic delayless controller feeding back the measurement outputs, the measurable disturbances and the external commands. The number of the external commands is equal to the number of the control inputs. The second type of controllers is the static delayless version of the first type. For both types of controllers, the necessary and sufficient conditions for the solvability of the problem are established, and the general solutions of the controller matrices are derived. The results are illustrated through a numerical example. © 2023 IEEE.

关键词： controllers

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Tangled Program Graphs as an alternative to DRL-based control algorithms for UAVs 27

Tangled Program Graphs as an alternative to DRL-based contro...

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27th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2024

作者： Szolc, Hubert Desnos, Karol Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Kraków Poland Univ Rennes INSA Rennes CNRS IETR - UMR 6164 RennesF-35000 France

ISBN: (纸本)9788362065486

Deep reinforcement learning (DRL) is currently the most popular AI-based approach to autonomous vehicle control. An agent, trained for this purpose in simulation, can interact with the real environment with a human-level performance. Despite very good results in terms of selected metrics, this approach has some significant drawbacks: high computational requirements and low explainability. Because of that, a DRL-based agent cannot be used in some control tasks, especially when safety is the key issue. Therefore we propose to use Tangled Program Graphs (TPGs) as an alternative for deep reinforcement learning in control-related tasks. In this approach, input signals are processed by simple programs that are combined in a graph structure. As a result, TPGs are less computationally demanding and their actions can be explained based on the graph structure. In this paper, we present our studies on the use of TPGs as an alternative for DRL in control-related tasks. In particular, we consider the problem of navigating an unmanned aerial vehicle (UAV) through the unknown environment based solely on the onboard LiDAR sensor. The results of our work show promising prospects for the use of TPGs in control related-tasks. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Deep reinforcement learning

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Influence of power supply on airport navigation lamps photometric test accuracy

Influence of power supply on airport navigation lamps photom...

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

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

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I 2 C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps.

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