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

作者： Tomasz Marciniak Agnieszka Stankiewicz Department of Automatic Control Robotics and Electrical Engineering Institue of Automatic Control and Robotics Poznan University of Technology Poznan Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

The aim of this article is to analyze the impact of adaptive histogram equalization of the human eye OCT B-scans on the effectiveness of the classification of pathological changes. Tests were performed on two datasets. The first dataset contains 4 class B-scans (CNV, DME, DRUSEN, and NORMAL) taken with the use of Spectralis Heidelberg device, while the second dataset contains images from two devices (Spectralis Heidelberg OCT and Avanti Optovue OCT) and additionally contains the VMT (i.e., vitreomacular traction) class. The images were subjected to standard histogram equalization and contrast limited adaptive histogram equalization (CLAHE) with various parameters. The classification process was carried out using VGG16 artificial neural network. It can be observed that histogram equalization has no significant impact on improving classification performance.

关键词： Performance evaluation Histograms Pathology Optical coherence tomography Signal processing algorithms Artificial neural networks Adaptive equalizers Retina Standards Diseases

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Numerical Estimation of the Internal Positivity of the Fractional Order Model of a Two-Dimensional Heat Transfer Process 27th

Numerical Estimation of the Internal Positivity of the F...

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27th International Conference on Automation, AUTOMATION 2023

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

ISBN: (纸本)9783031258435

In the paper the numerical estimation of the internal positivity of the model of a two dimensional heat transfer process is addressed. The considered thermal process is described by the fractional order state equation, derived from parabolic heat equation with homogenous Neumann boundary conditions and distributed control and observation. Two numerical algorithms of the positivity testing are proposed and compared. The first one consists in the full examination of the whole area. The next one uses Monte Carlo method. From tests it can be concluded that the considered model can be internally positive only for its lower orders and heating and measurements located closely to the corner of the tested area. The use of the Monte Carlo method allows to significantly shorten the duration of computations. The presented results can be useful in measurements using a thermal camera. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fractional order system Monte Carlo method Positivity Thermal camera

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How to combine issues related to autonomous vehicles - a proposal with a literature review 26

How to combine issues related to autonomous vehicles - a pro...

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

作者： Balcerek, Julian Pawlowski, Pawel Poznan University of Technology Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan Poland

ISBN: (纸本)9798350304985

This article proposes a model that combines the issues related to autonomous vehicles into seven groups. The groups are included in mutual iterations between the user, the autonomous vehicle and the environment. They are: vehicle automation, environmental sensors, automatic perception of the environment based on the processing of vision signals, communication with external devices, interaction with the user, direct transmission of signals to the environment, and future development plans. Bearing in mind the proposed model, various latest solutions presented in the state-of-the-art literature or already offered in vehicles are collected and described. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Image processing

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Graph Neural Networks for Natural Language Processing in Human-Robot Interaction 26

Graph Neural Networks for Natural Language Processing in Hum...

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

作者： Swietlicka, Aleksandra Haczyk, Dagmara Haczyk, Marcel Poznan University of Technology Institute of Automatic Control and Robotics Poznań Poland Poznan University of Technology Poznań Poland

ISBN: (纸本)9798350304985

Human-robot interaction (HRI) has become a promising field that focuses on developing intelligent systems that are capable of understanding human language. Natural Language Processing (NLP) plays a huge role in enabling robots to interpret and generate natural language, making it easier to effectively communicate. However, traditional NLP approaches sometimes struggle to capture the right structural dependencies and contextual *** overcome these limitations, Graph Neural Networks (GNNs) have emerged as a powerful model for NLP tasks in the context of human-robot interaction. GNNs extend traditional neural network architectures to effectively model and reason about structured data, such as graphs. In the context of NLP, these graphs can represent semantic relationships between words or *** this study, we model human-robot conversations as graphs. The aim of the research is to conduct a test using GNNs to predict personality traits based on conversations between human and robot. Presented results, despite a very small training set, show that GNNs can be effective in capturing the dynamics and context of conversations. GNNs lead then to improved performance in tasks such as predicting personality and estimating engagement levels. These findings suggest that GNNs have the potential to enhance the quality of HRI and improve the overall user experience. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Human robot interaction

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Analysis of Dielectric Electroactive Polymer Actuator Displacements in Resonance States Using 2D Laser Sensor 22

Analysis of Dielectric Electroactive Polymer Actuator Displa...

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22nd IEEE International Symposium on Intelligent Systems and Informatics, SISY 2024

作者： Kolota, Jakub Bernat, Jakub Czopek, Pawel Marcinkowska, Agnieszka Gajewski, Piotr 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: (纸本)9798350385601

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. © 2024 IEEE.

关键词： Conducting polymers

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Modeling of passive cooling systems for building-applied photovoltaics panels (BAPV) 26

Modeling of passive cooling systems for building-applied pho...

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

作者： Holovko, Oleh Konieczka, Adam Dabrowski, Adam Poznan University of Technology Division of Signal Processing and Electronic Systems Institute of Automatic Control and Robotics Poznan Poland

ISBN: (纸本)9798350304985

This article analyzes the effectiveness of passive solar panel cooling systems in building-applied photovoltaics (BAPV) installations. Emphasis was placed on the ribbed heat sinks. Using CFD (Computational Fluid Dynamics) simulation, the movement of air in the cooling system and the dependence of the heat sink temperature on wind speed and direction, ambient temperature and distance to surrounding objects were analyzed. A mathematical analysis of the decrease in the average temperature of the solar panel was carried out. Experimental temperature measurements of the real panel were also made. They confirmed the simulation results. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Cooling systems

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Modeling of Electro-Hydraulic Servo-Drive for Advanced control System Design 15th

Modeling of Electro-Hydraulic Servo-Drive for Advanced Contr...

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15th International Conference Dynamical Systems: Theory and Applications, DSTA, 2019

作者： Możaryn, Jakub Winnicki, Arkadiusz Suski, Damian Institute of Automatic Control and Robotics Warsaw University of Technology Warsaw Poland

ISBN: (纸本)9783030773052

The paper describes the synthesis of a mathematical model of the electro-hydraulic servo-drive. Because of the complexity of the electro-hydraulic servo-drive system and the difficulty in determining all system’s coefficients, the simplification of the mathematical model is proposed. The model includes different non-linearities such as the friction or the pressure-dependent oil bulk module. The simulation results are presented, and the comparison with the data collected from the real servo drive is discussed. With the proposed method it was possible to choose the values of physical parameters such that the real electro-hydraulic servo-drive is modeled with the accuracy suitable for the fast prototyping and design of the advanced control system. © 2022, Springer Nature Switzerland AG.

关键词： Digital storage

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Towards backward compatibility of ADRC: revisiting classical state-feedback control with integral compensator

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Bulletin of the Polish Academy of Sciences: Technical Sciences 2025年第2期73卷

作者： Mrotek, Mikolaj Michalski, Jacek Madonski, Rafal Pazderski, Dariusz Retinger, Marek Faculty of Control Robotics and Electrical Engineering Institute of Robotics and Machine Intelligence Poznan University of Technology Piotrowo 3a Poznan60-965 Poland Faculty of Automatic Control Electronics and Computer Science Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice44-100 Poland Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Poznan University of Technology Piotrowo 3a Poznan60-965 Poland

In this paper, the problem of backward compatibility of active disturbance rejection control (ADRC) is investigated. The goal is to contextualize ADRC to deliver its interpretations from the established field of linear control systems. For this study, a control algorithm, denoted here as integral disturbance rejection control (IDRC), is considered that combines classical state-feedback control with an integral compensator. At first, an interpretation of ADRC is involved in terms of existing state-space control approaches. Next, a transition to the frequency domain is performed, which is justified as a significant part of practical control engineering is conducted in that domain. For assumed specific plant structures, both ADRC and IDRC are then holistically compared in terms of transfer function representation and frequency characteristics, as well as steady-state convergence conditions. Such a juxtaposition helps to highlight the similarities and differences of both approaches, whereas the utilized bandwidth parameterization is shown to bring the control system to the same form, thus indicating some interesting practical aspects. Finally, the theoretical results concerning both considered control structures are validated in a set of numerical simulations and experiments conducted on a laboratory hardware testbed. © 2025 The Author(s).

关键词： Disturbance rejection

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks 50

Detection of Electric Motor Damage Through Analysis of Sound...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Bauer, Waldemar Zagórowska, Marta Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781665464543

Fault monitoring and diagnostics are important to ensure reliability of electric motors. Efficient algorithms for fault detection improve reliability, yet development of cost-effective and reliable classifiers for diagnostics of equipment is challenging, in particular due to unavailability of well-balanced datasets, with signals from properly functioning equipment and those from faulty equipment. Thus, we propose to use a Bayesian neural network to detect and classify faults in electric motors, given its efficacy with imbalanced training data. The performance of the proposed network is demonstrated on real life signals, and a robustness analysis of the proposed solution is provided. © 2024 IEEE.

关键词： Damage detection

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