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2024 International Russian Automation Conference, RusAutoCon 2024

作者： Lipko, Ivan Dementiev, Kirill Kramar, Vadim Sevastopol State University Robotics and Intelligent Control Systems Laboratory Sevastopol Russia

This article is devoted to the issue of analyzing the influence of external disturbances on the underwater vehicle in the form of a flattened ellipsoid body with a multilink manipulator when performing technological operations. The relevance of the study is related to the automation of such operations as underwater welding, transfer of objects, twisting, bending, etc., performed underwater. For this purpose, we have built a mathematical model of the underwater apparatus with an ellipsoid shape, indicated the ways of influence of moments and forces arising in the manipulator on the apparatus body. It was found out that this influence leads to nonlinear effects in transients. This influence is different, depending on the axis in which the motion of the apparatus is performed. Since the body is flattened in the horizontal axis, the most unpleasant effect occurs in the vertical motion, due to the increased hydrodynamic resistance. The model is considered without a control loop in the apparatus, and it is the effect of the housing on the accuracy of movements of a multilink manipulator with a standard control system in the form of PID controllers that is important to us. © 2024 IEEE.

关键词： Underwater welding

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Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundus Images with 3D UNet 26

Segmentation of Retina Vessels in 2D OCT-Reconstructed Fundu...

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

作者： Marciniak, Tomasz Stankiewicz, Agnieszka Zaradzki, Przemyslaw Poznan University of Technology Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Department of Control Robotics and Electrical Engineering Poznan Poland

ISBN: (纸本)9798350304985

This paper presents an analysis of the effectiveness of blood vessel segmentation in human retinal images. The segmentation process was carried out for three-dimensional optical coherence tomography (OCT) scans using the author's publicly available CAVRI-C database. A 3D version of the U-Net artificial neural network was used. Various dimensions of the input blocks were investigated to determine their influence on the segmentation process. The effectiveness of the proposed solutions was evaluated using various metrics and the results obtained were compared with the 2D solution, also based on neural networks. The use of the proposed solutions allowed us to improve the segmentation even by 15% (in the case of the F1-score). © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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Basis change, projection, and relative linear algebra tricks in signal and image processing 27

Basis change, projection, and relative linear algebra tricks...

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

作者： Dabrowski, Adam Poznań University of Technology Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Matrix algebra

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A hierarchical framework for distributed resilient control of islanded AC microgrids under false data injection attacks

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ISA Transactions 2023年第1期139卷 191-204页

作者： Zarei, Mahdi Sadegh Atrianfar, Hajar Tehran Iran Center of Excellence on Control and Robotics Department of Electrical Engineering Amirkabir University of Technology Tehran Iran

In this paper, we propose a control scheme to ensure the microgrid control layers are resilient to cyberattacks. The studied microgrid consists of several distributed generation (DG) units and we consider the hierarchical control structure that is common for microgrids. The use of communication channels among DGs has made microgrids more vulnerable and this is where cybersecurity issues arise. In this work we added three algorithms, reputation-based, Weighted Mean Subsequence Reduced (W-MSR) and Resilient Consensus Algorithm with Trusted Nodes (RCA-T), to the secondary control layer of the microgrid and made them resilient to false data injection (FDI) attacks. In reputation-based control, some procedures are used for detecting the attacked DGs and isolating them from the others. W-MSR and RCA-T are Mean Subsequence Reduced (MSR)-based algorithms that fade the effect of attacks without finding them. These algorithms use a simple strategy that ignores some extreme values of neighboring agents, so an attacker can simply get ignored. Our analysis of the reputation-based algorithm is based on scrambling matrices, so the communication graph can switch in a prescribed set. In each of the above cases, to evaluate the performance of the designed controllers, in addition to theoretical analysis, we evaluated and compared the controllers using simulation. © 2023 ISA

关键词： controllers

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Image Segmentation System of Soft Capsules Based on Deep Learning

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Journal of Institute of control, robotics and Systems 2024年第6期30卷 607-613页

作者： Jung, Young-Gil Park, Tae-Hyoung Department of Control and Robot Engineering Chungbuk National University Korea Republic of Department of Intelligent Systems and Robotics Chungbuk National University Korea Republic of

Pharmacists in conventional pharmacies and hospitals prepare and visually inspect medications before dispensing these medications to patients, thereby posing risks of exposure through skin contact or inhalation, as well as the potential for generating compounding errors such as incorrect medication types or quantities. To address the limitations of the manual compounding processes, automated compounding and medication-verification systems have been introduced and implemented. The automated compounding system prepares medications in pouch units based on prescriptions written by doctors, whereas the medication verification system verifies whether the types and quantities of the medication dispensed in these pouches match the prescription information. Medications are categorized broadly into solid tablets, hard capsules, and soft capsules. Color and shape information is used to classify medication types;solid tablets and hard capsules can be classified using rule-based image processing techniques such as image binarization. However, extracting shape information from soft capsules through which light passes is impossible via image binarization alone;therefore pattern matching is employed. Nevertheless, soft capsules change their forms, causing significant variations in pattern-matching similarity;therefore the detection accuracies of these capsules are low. To address this issue, this paper proposes a deep learning-based method for detecting soft capsules. © ICROS 2024.

关键词： Pattern matching

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Camera-based light source localization for precise luminous intensity measurement of airport lamps 27

Camera-based light source localization for precise luminous ...

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

作者： Podbucki, Kacper Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than 90%. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Image enhancement

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Gradient control of a group of robots based on probabilistic functional under active interference

Gradient control of a group of robots based on probabilistic...

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2024 International Conference on Artificial Intelligence, Computer, Data Sciences, and Applications, ACDSA 2024

作者： Karkishchenko, Alexander N. Pshikhopov, Vyacheslav Kh. Southern Federal University Research and Design Bureau for Robotics and Control Systems Taganrog Russia

A gradient approach to controlling a group of autonomous mobile robots in an environment with active counteraction is described. Gradient control is based on a probabilistic functional, which has the meaning of the pr... 详细信息

ISBN: (纸本)9798350394528

关键词： Robots

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Fuzzy-Inverse-Model-Based Networked Tracking control Frameworks of Time-Varying Signals

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IEEE/CAA Journal of Automatica Sinica 2024年第7期11卷 1708-1710页

作者： Shiwen Tong Dianwei Qian Keya Yuan Dexin Liu Yuan Li Jiancheng Zhang the College of Robotics Beijing Union UniversityBeijing 100101China the School of Control and Computer Engineering North China Electric Power UniversityBeijing 102206China

Dear Editor,Tracking control in networked environment is a very challenging problem due to the contradiction of rapid response to the time-varying signal and the inevitable delay introduced by networks. This letter has proposed several fuzzy-inverse-model-based network tracking control frameworks which are helpful in handling the system with nonlinear dynamics and uncertainties.

关键词： contradiction letter inverse

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Path Planning of Guide Robot with Nonholonomic Constraints for Visually Impaired Assistance 38

Path Planning of Guide Robot with Nonholonomic Constraints f...

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38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Grzejszczak, Tomasz Lasak, Michal Department of Automatic Control and Robotics Silesian University of Technology Gliwice44-100 Poland

ISBN: (纸本)9789492859334

This paper presents a novel trajectory planning algorithm for a vehicle whose task is to guide a blind person. The kinematic model is used to accurately represent the mechanical structure and motion capabilities of the platform with nonholonomic constraints. Then the heuristic algorithm is employed to generate efficient and optimal paths for various tasks. The algorithm is implemented in a simulation environment and tested for various variants of leash length, distance between intermediate points and robot possible actions. The results show that the algorithm has a comparable total number of nodes to effective nodes ratio to the literature results, yet it is simpler to implement than proposed in literature RRT modification. This research contributes to the advancement of assistive robotics, paving the way for more autonomous and user-friendly navigation solutions for the visually impaired. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Heuristic algorithms

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Foreign Object Debris detection at aerodromes using YOLOv5 27

Foreign Object Debris detection at aerodromes using YOLOv5

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

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawla II 24 Poznań60-965 Poland

ISBN: (纸本)9788362065486

The latest EASA recommendations from 2024 indicate the possibility of using machine learning techniques in aerodrome monitoring. The aim of the work was to analyze solutions and prepare FOD (Foreign Object Debris) object detection software on aerodromes. In order to implement the issue, a dataset of photos and video recordings for testing algorithms was developed. The dataset consists of 1480 photos showing FOD at aerodromes and photos of the runway itself, according to EASA and FAA recommendations. FOD detection was implemented using a classical, k-means method and effective YOLOv5. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Video recording

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