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检索条件"机构=Department Automatic Control and Robotics"

共 515 条记录，以下是1-10 订阅

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Influence of Histogram Equalization on Multi-Classification of Retinal Diseases in OCT B-scans 27

Influence of Histogram Equalization on Multi-Classification ...

引用

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

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

ISBN: (纸本)9788362065486

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. © 2024 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical coherence tomography

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TUNING OF PID controlLER USING IC ALGORITHM FOR A CAPSUBOT 38

TUNING OF PID CONTROLLER USING IC ALGORITHM FOR A CAPSUBOT

引用

38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Babiarz, Artur Silesian University of Technology Department of Automatic Control and Robotics Poland

ISBN: (纸本)9789492859334

In this paper, the optimal value of parameters of PID controller are obtained using imperialist competitive algorithm (ICA). The five cost functions are selected: ISE, ITSE, IAE, ITAE and IF. These functions are used in ICA as objective functions. Results from ICA are applied in the control scheme for legless capsubot robot and the responses to the given signal are presented in figures and discussed. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Cost functions

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SIMULATION OF A SCARA ROBOT MOVEMENTS-PID controlLER TUNING STUDYING 38

SIMULATION OF A SCARA ROBOT MOVEMENTS-PID CONTROLLER TUNING ...

引用

38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Muszyński, Dominik Babiarz, Artur Silesian University of Technology Department of Automatic Control and Robotics Poland

ISBN: (纸本)9789492859334

In this paper, a SCARA robot was modeled and properly simulated. It was implemented in the Matlab/Simulink environment, together with appropriate PID controllers. The process of tuning the PID controller parameters was carried out using popular tuning methods with the Integral of Absolut Error (IAE) criterion. The method of movement of subsequent elements was analyzed (using available tools - Simscape) and compared for various PID controller settings. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Three term control systems

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A Stochastic Approach to Modeling Long-Term Degradation of the Electronic Security Systems as a crucial element of evaluation of Physical Protection Systems (PPS) 50

A Stochastic Approach to Modeling Long-Term Degradation of t...

引用

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

作者： Kapusta, Jan Bauer, Waldemar Baranowski, Jerzy Department of Automatic Control & Robotics AGH University of Krakow Krakow Poland

ISBN: (纸本)9781665464543

This study introduces a stochastic model designed to evaluate the long-term degradation of Electronic Security Systems (ESS) as critical components of Physical Protection Systems (PPS). Recognizing the significant financial investments in security systems and the evolving nature of threats, our model aims to provide a more dynamic assessment of PPS effectiveness over time. Traditional methodologies, such as the Estimated Adversary Sequence Interruption (EASI), often overlook the degradation factor, potentially leading to mismanagement and increased vulnerability. Our model incorporates various stochastic parameters, including aging, adversary knowledge growth, and technological improvements, to simulate the decline in system effectiveness. We present a comprehensive computational framework using Python, demonstrating the model’s application through a case study involving different ESS components with varied ages. The results highlight the necessity for proactive maintenance strategies and dynamic policy-making to sustain PPS effectiveness. This paper underscores the importance of integrating degradation factors into PPS evaluation to enhance security infrastructure management against evolving threats. © 2024 IEEE.

关键词： Stochastic models

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Analysis of the effectiveness of object recognition algorithms using a thermal imaging camera 4

Analysis of the effectiveness of object recognition algorith...

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4th International Conference on Electrical, Computer, Communications and Mechatronics Engineering, ICECCME 2024

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

ISBN: (纸本)9798350391183

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. © 2024 IEEE.

关键词： Thermography (imaging)

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Efficient Multi-task Learning for Road Scene Classification: Scene, Time, and Weather Predictions 20

Efficient Multi-task Learning for Road Scene Classification:...

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20th IEEE International Conference on Intelligent Computer Communication and Processing Conference, ICCP 2024

作者： Prykhodchenko, Roman Skruch, Pawel Agh University of Science and Technology Department of Automatic Control and Robotics Cracow Poland

ISBN: (纸本)9798331539979

This paper addresses the task of road scene classification by leveraging multi-task learning (MTL) to improve model performance and computational efficiency. We employ the BDD100K dataset, which provides diverse driving scenarios, and apply data augmentation and balancing techniques to mitigate class imbalances. Our methodology integrates a ResNet18 backbone pre-trained on ImageNet, extended with task-specific heads for scene type, time of day, and weather classification. Uniform Manifold Approximation and Projection (UMAP) is used for dimensionality reduction and visualization of feature embeddings. Experiments demonstrate that our MTL approach significantly enhances classification accuracy across tasks, with notable performance in time-of-day classification. The proposed model achieves robust results despite class imbalances, validated through confusion matrices and UMAP visualizations. Our findings highlight the benefits of MTL in road scene classification, offering insights for future research in autonomous driving and computer vision. © 2024 IEEE.

关键词： Dimensionality reduction

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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...

引用

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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Utilization of Haptic Feedback to facilitate Navigation for Visually Impaired Individuals 38

Utilization of Haptic Feedback to facilitate Navigation for ...

引用

38th Annual European Simulation and Modelling Conference, ESM 2024

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

ISBN: (纸本)9789492859334

This article presents the results of a study conducted to identify the most effective method for guiding visually impaired individuals in navigating their surroundings. The study aimed to address the persistent challenges faced by visually impaired individuals in achieving independent mobility. These challenges are exacerbated by the limited effectiveness of existing assistive technologies and the high costs associated with advanced solutions. Therefore, the focus was on developing and evaluating practical, cost-effective methods leveraging haptic feedback technology. The primary objective was to determine which haptic feedback configurations provided the most intuitive and effective guidance. By evaluating factors such as response time, accuracy in following designated routes, and user satisfaction, the study aimed to establish evidence-based recommendations for improving navigation aids. These findings are crucial as they contribute to the development of accessible technologies that can be readily integrated into daily life without imposing significant financial burdens or usability challenges. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Assistive technology

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DFU-Ens: End-to-End Diabetic Foot Ulcer Segmentation Framework with Vision Transformer Based Detection 3rd

DFU-Ens: End-to-End Diabetic Foot Ulcer Segmentation Framewo...

引用

3rd Diabetic Foot Ulcers Grand Challenge, DFUC 2022, held in Conjunction with the 25th International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 2022

作者： Kucharski, Dariusz Kostuch, Aleksander Noworolnik, Filip Brodzicki, Andrzej Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH UST Krakow Poland

ISBN: (纸本)9783031263538

Diabetic foot ulceration (DFU) is an open wound that occurs in approximately 15% of patients with diabetes, and is mostly located on the sole. Currently, it is one of the major challenges for healthcare systems around the world and a serious complication of diabetes. DFU causes infection and ischemia which can significantly prolong treatment and result in limb amputation and terminal illness. Thus, regular monitoring of the DFU area is necessary to assess the healing process and improve patient care. In this regard, we propose an end-to-end ensemble fully convolutional network (DFU-Ens), which mainly includes three modules: the U-Net module (DFU-Seg), the hybrid approach (DFU-Det) containing the YOLOv4 based detection module and the Vision Transformer DETR detection approaches. The ensemble solution is based on a high ranking strategy which combines DFU-Seg with a hybrid solution of bounding-box detection (performed using the latest DETR vision transformer architecture and YOLOv4) and patch segmentation. On the DFUC2022 validation set, we achieved 0.643 Dice score for the ensemble approach, 0.648 for DFU-Seg, and 0.556 and 0.581 for hybrid approaches based on YOLOv4 and DETR, respectively, with DETR having the best sensitivity. On the later published test set, DFU-Seg achieve a Dice score of 0.67 while the ensemble method achived 0.66. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Diseases

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Comparison of Data Depth Calculation Method for Fault Detection in Electric Signal 21st

Comparison of Data Depth Calculation Method for Fault Dete...

引用

21st Polish control Conference, PCC 2023

作者： Bauer, Waldemar Dudek, Adrian Baranowski, Jerzy Department of Automatic Control and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351723

Functional Data Analysis (FDA) is a modern statistical technique that deals with data in the form of curves or functions. It has recently gained popularity in the field of fault detection as it can capture the dynamic behavior of a system over time. In this paper, we explore the fault detection capabilities of functional data depth calculated by different methods. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Fault detection

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