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Switched max-plus linear-dual inequalities for makespan minimization: the case study of an industrial bakery shop 1

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IFAC-PapersOnLine 2023年第2期56卷 8628-8634页

作者： Davide Zorzenon Nataliia Zaiets Jörg Raisch Control Systems Group Technische Universität Berlin Germany Department of Automation and Robotics Systems National University of Life and Environmental Sciences of Ukraine Kyiv Science of Intelligence Research Cluster of Excellence Berlin Germany

In this paper, an industrial bakery shop is modeled by switched max-plus linear-dual inequalities (SLDIs). SLDIs are timed discrete event systems suitable for describing flow shops with time-window constraints and switching operating modes, where each mode corresponds to a job type. We consider the scheduling problem of minimizing the makespan of the shop, and we show that the application of methods based on the max-plus algebra leads to a faster solution compared to standard techniques. The results of the paper are general, in the sense that they can be applied to any permutation flow shop with time-window constraints.

关键词： Scheduling Food industry Max-plus algebra Discrete event systems

Vision-based automatic fruit counting with UAV

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arXiv 2025年

作者： Szolc, Hubert Wasala, Mateusz Mietla, Remigiusz Iwicki, Kacper Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Krakow al. Mickiewicza 30 Krakow30–059 Poland

The use of unmanned aerial vehicles (UAVs) for smart agriculture is becoming increasingly popular. This is evidenced by recent scientific works, as well as the various competitions organised on this topic. Therefore, in this work we present a system for automatic fruit counting using UAVs. To detect them, our solution uses a vision algorithm that processes streams from an RGB camera and a depth sensor using classical image operations. Our system also allows the planning and execution of flight trajectories, taking into account the minimisation of flight time and distance covered. We tested the proposed solution in simulation and obtained an average score of 87.27/100 points from a total of 500 missions. We also submitted it to the UAV Competition organised as part of the ICUAS 2024 conference, where we achieved an average score of 84.83/100 points, placing 6th in a field of 23 teams and advancing to the finals. © 2025, CC BY.

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Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

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TechRxiv

TechRxiv 2023年

作者： Grabowski, Mariusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840×2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

Real-time FPGA implementation of the Semi-Global Matching stereo vision algorithm for a 4K/UHD video stream

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arXiv 2023年

作者： Grabowski, Mariusz Kryjak, Tomasz Embedded Vision Systems Group Computer Vision Laboratory Department of Automatic Control and Robotics Agh University of Science and Technology Krakow Poland

In this paper, we propose a real-time FPGA implementation of the Semi-Global Matching (SGM) stereo vision algorithm. The designed module supports a 4K/Ultra HD (3840 ×2160 pixels @ 30 frames per second) video stream in a 4 pixel per clock (ppc) format and a 64-pixel disparity range. The baseline SGM implementation had to be modified to process pixels in the 4ppc format and meet the timing constrains, however, our version provides results comparable to the original design. The solution has been positively evaluated on the Xilinx VC707 development board with a Virtex-7 FPGA device. © 2023, CC BY.

关键词： Field programmable gate arrays (FPGA)

Optimising Graph Representation for Hardware Implementation of Graph Convolutional Networks for Event-based Vision

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arXiv 2024年

作者： Jeziorek, Kamil Wzorek, Piotr Blachut, Krzysztof Pinna, Andrea Kryjak, Tomasz Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Poland Sorbonne Université CNRS LIP6 ParisF-75005 France

Event-based vision is an emerging research field involving processing data generated by Dynamic Vision Sensors (neuromorphic cameras). One of the latest proposals in this area are Graph Convolutional Networks (GCNs), which allow to process events in its original sparse form while maintaining high detection and classification performance. In this paper, we present the hardware implementation of a graph generation process from an event camera data stream, taking into account both the advantages and limitations of FPGAs. We propose various ways to simplify the graph representation and use scaling and quantisation of values. We consider both undirected and directed graphs that enable the use of PointNet convolution. The results obtained show that by appropriately modifying the graph representation, it is possible to create a hardware module for graph generation. Moreover, the proposed modifications have no significant impact on object detection performance, only 0.08% mAP less for the base model and the N-Caltech data set. Finally, we describe the proposed hardware architecture of the graph generation module. © 2024, CC BY.

关键词： Field programmable gate arrays (FPGA)

Embedded Graph Convolutional Networks for Real-Time Event Data Processing on SoC FPGAs

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arXiv 2024年

作者： Jeziorek, Kamil Wzorek, Piotr Blachut, Krzysztof Pinna, Andrea Kryjak, Tomasz The Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Poland The Sorbonne Université CNRS LIP6 ParisF-75005 France

The utilisation of event cameras represents an important and swiftly evolving trend aimed at addressing the constraints of traditional video systems. Particularly within the automotive domain, these cameras find significant relevance for their integration into embedded real-time systems due to lower latency and energy consumption. One effective approach to ensure the necessary throughput and latency for event processing systems is through the utilisation of graph convolutional networks (GCNs). In this study, we introduce a series of hardware-aware optimisations tailored for PointNet++, a GCN architecture designed for point cloud processing. The proposed techniques result in more than a 100-fold reduction in model size compared to Asynchronous Event-based GNN (AEGNN), one of the most recent works in the field, with a relatively small decrease in accuracy (2.3% for N-Caltech101 classification, 1.7% for N-Cars classification), thus following the TinyML trend. Based on software research, we designed a custom EFGCN (Event-Based FPGA-accelerated Graph Convolutional Network) and we implemented it on ZCU104 SoC FPGA platform, achieving a throughput of 13.3 million events per second (MEPS) and real-time partially asynchronous processing with a latency of 4.47 ms. We also address the scalability of the proposed hardware model to improve the obtained accuracy score. To the best of our knowledge, this study marks the first endeavour in accelerating PointNet++ networks on SoC FPGAs, as well as the first hardware architecture exploration of graph convolutional networks implementation for real-time continuous event data processing. We publish both software and hardware source code in an open repository: https://***/vision-agh/***. © 2024, CC BY.

关键词： Field programmable gate arrays (FPGA)

Modeling and Analysis of Bipedal Wheel-legged Robot with Sprawling Legs Mechanism

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Modeling and Analysis of Bipedal Wheel-legged Robot with Spr...

International Conference on Mechatronics (ICOM)

作者： Zulkifli Mansor Addie Irawan Nor Maniha Abdul Ghani Azrul Azim Abdullah Hashim Robotics Intelligent Systems & Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang Malaysia

ISBN: (数字)9798350349788

ISBN: (纸本)9798350349795

This paper presents the modeling and analysis of the novel Bipedal Wheel-Legged Robot with Sprawling Legs Mechanism (BWLS) utilizing multi body dynamics approaches and the proposed Coxa-Based Coordinate System (CCS) in kinematics modeling. The primary focus lies in transitioning the conceptual model of the BWLS into the Simscape Multibody (SM) environment. The proposed CCS is subjected to verification through the implementation of a Hierarchical control Framework (HCF) utilizing a simple stand-up input trajectory. Through the analysis, initial angular positions and stable range angular joints are determined, revising previous determinations based on hardware structure. Furthermore, employing the Forward Kinematics (FK) model, the stable boundary is identified through spatial leg motion plots. The reliability of the proposed CCS kinematics model is affirmed, rendering the model ready for further in-depth studies and applications.

关键词： Legged locomotion Analytical models Mechatronics Robot kinematics Dynamics Kinematics Rendering (computer graphics)

Coxa Coordination System-Based Hierarchical control Framework for Bipedal Wheel-Leg Robot with Sprawling Mechanism

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Coxa Coordination System-Based Hierarchical Control Framewor...

IEEE Conference on systems, Process & control (ICSPC)

作者： Zulkifli Mansor Addie Irawan Robotics Intelligent Systems & Control Engineering (RiSC) research group Faculty of Electrical & Electronics Engineering Technology Universiti Malaysia Pahang Al-Sultan Abdullah Pekan Pahang Malaysia

ISBN: (数字)9798350391398

ISBN: (纸本)9798350391404

The paper presents a Coxa Coordination System-Based Hierarchical control Framework (CCS-HCF) for a Bipedal Wheel-Leg Robot with a Sprawling Mechanism (BWLS), aimed at enhancing the flexibility navigation in rugged environments. The proposed method leverages the Coxa-Based Coordinate System (CCS) for optimizing leg motion and trajectory, facilitating stable and efficient locomotion across challenging terrains. The proposed method’s effectiveness is verified through various simulation works, highlighting the importance of specific parameter settings in the proposed CCSHCF, such as a Coxa angle for sprawling and mammalian postures, along with a swing height position. These configurations are crucial for maintaining stability and balance during operation. The findings demonstrate the bipedal wheel-legged robot such as BWLS system’s with the proposed CC-SHCF ready to be integrated by various stability and robust control layers for stable walking and skiing.

关键词： Legged locomotion Robust control Meters Navigation Robot kinematics Heuristic algorithms control systems Stability analysis Trajectory Optimization

Novel Disturbance Observer Relevant Parametric System Identification Based on Robust Stability Criterion

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Novel Disturbance Observer Relevant Parametric System Identi...

control Technology and Applications (CCTA),

作者： Hanul Jung Paul Tacx Tom Oomen Sehoon Oh Department of Robotics Engineering DGIST Daegu Korea Department of Mechanical Engineering Control Systems Technology Group Eindhoven University of Technology Eindhoven The Netherlands

In this paper, novel parametric identification is addressed by the disturbance observer (DOB) relevant algorithm. To fully utilize the disturbance observer, a proper nominal model, which is a parametric model, is essential. The control performance of the DOB can be checked based on the robust stability criterion, which is related to the modeling error and the desired bandwidth of the DOB. Consequently, it is beneficial to evaluate the parametric model in the system identification procedure. Therefore, this paper proposes a novel disturbance observer-relevant system identification algorithm based on the robust stability criterion of the disturbance observer. The effectiveness of the proposed method is validated by showing the numerical simulations under specific conditions.

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