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Electrical Engineering, Automation & control Systems, Theory and Practical Applications (EEACS), Seminar on

作者： Dinh Dang Truong Nguyen Van Lanh Nguyen Dinh Khanh Department of Automatic Control Systems Naval Academy Nha Trang Viet Nam Department of Robotics and Industrial Automation Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia Department of Automatic Control Systems Saint Petersburg Electrotechnical University "LETI" Saint Petersburg Russia

The paper presents a method of sliding control for nonlinear electrical drive system to eliminate the influence of nonlinear factors and external disturbances on stability and position tracking of movement of the lower limb exoskeleton. Sliding control solves a powerful non-linear problem of a moving exoskeleton object with uncertain dynamic model parameters, friction elements, and external disturbance to ensure convergence and stability of the joint angle position tracking error. Modelling the dynamic movement of the lower limb exoskeleton by the mathematical method is established, which includes five links with the consideration of nonlinear elements of friction, elasticity and external disturbance to evaluate the effectiveness of the recommended control method. The stability of the recommended controller and the tracking efficiency of the control system are demonstrated by applying the theorem of Lyapunov stability and simulation in the Matlab/Simulink environment.

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Measurement of unbalanced voltages in three-phase induction motors using acoustic transducers and zero-crossing-weighted energy 5

Measurement of unbalanced voltages in three-phase induction ...

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5th International Symposium on Instrumentation Systems, Circuits and Transducers, INSCIT 2021

作者： Lucas, Guilherme Beraldi De Castro, Bruno Albuquerque Alves, Brigite Peinado Glowacz, Adam Andreoli, Andre Luiz Sao Paulo State University Department of Electrical Engineering Bauru Brazil AGH University of Science and Technology Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9781728197265

In modern industries, transducers and measurement systems have been largely applied for equipment monitoring. In this context, three-phase induction motors (TIMs) are the main focus of predictive maintenance due to their relevance within the production lines. Among electrical and mechanical failures in TIMs, voltage unbalance (VU) is a critical condition that can lead the motor to total failure. It motivated the development of sensor-based solutions to diagnose this supply anomaly, including the acoustic emission (AE) technique, which stands out as a non-invasive alternative for fault diagnosis. However, none of the previous works carried out a comprehensive evaluation of VU. Therefore, to fill this research gap, this manuscript proposes a detection, phase(s) identification, and percentage classification of VU. This approach is based on AE signals acquired by piezoelectric transducers and Zero-Crossing-Weighted Energy (ZE) to accomplish the analysis. The methodology consisted of several experiments where the TIM was subjected to unbalanced voltages. The signals were processed using the ZE index to perform a 3D clustering map for phase identification and a 2D linear regression for percentage classification. The results showed that the proposed method successfully evaluated the origin and magnitude of VU faults in TIMs. © 2021 IEEE.

关键词： Failure analysis

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

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

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

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

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

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.

关键词： Measurement Laser radar Navigation Signal processing algorithms Process control Computer architecture Deep reinforcement learning Autonomous aerial vehicles Safety

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Electrochemical determination of pollutants from various passenger car engines

Electrochemical determination of pollutants from various pas...

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

作者： Karolina Brończyk Michał Adamski Agata Dąbrowska Adam Konieczka Adam Dąbrowski Department of Trace Analysis Faculty of Chemistry Adam Mickiewicz University Poznań Poland Division of Electronic Systems and Signal Processing Institute of Automatic Control and Robotics Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

This paper presents measurements of the concentrations of particulate matter (PM1, PM2.5, and PM10), carbon dioxide (CO 2 ), total organic compounds (TVOCs), and formaldehyde as pollutants released during fuel combustion. For this purpose, a suitable measuring device containing selective electrochemical sensors was prepared. The influence of fuel type and engine speed on the amount of pollutants released into the environment, was studied. Based on the achieved results, it can be concluded that the factor influencing the amount of pollutants released is mainly the type of fuel. Gasoline-powered cars can pollute the environment in a particularly negative way. A relationship was also noted between the increase in engine speed and the concentration of released carcinogenic formaldehyde.

关键词： Atmospheric measurements Signal processing algorithms Particle measurements Combustion Pollution measurement Sensors Fuels Automobiles Engines Formaldehyde

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Accuracy and cross-sensitivity analysis of the PMS5003 formaldehyde sensor

Accuracy and cross-sensitivity analysis of the PMS5003 forma...

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

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

Measurement data produced with the PMS5003 electrochemical sensor, allegedly selective for formaldehyde, were analyzed. The amounts of formaldehyde released from heated standard solutions were measured. At the same time, samples were sorbed into sorption tubes with an XAD-2 cartridge, which enabled chromatographic analysis – gas chromatography coupled with an electron capture detector (GC-ECD). A susceptibility of the PMS5003 sensor to cross-sensitivity associated with the presence of other low-molecular-weight carbonyl compounds, such as acetaldehyde and acetone in the sample, was also tested. The conducted research clearly indicates poor selectivity/accuracy of the PMS5003 sensor in relation to formaldehyde and its sensitivity to the presence of other carbonyl compounds in the sample, with a structure similar to formaldehyde.

关键词： Heating systems Gas chromatography Sensitivity Accuracy Signal processing algorithms Detectors Compounds Formaldehyde Standards Electrons

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EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for Edge Devices

EEG-GNet: GCN-Based EEG Signal Fatigue Detection Network for...

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2024 IEEE International Conference on Bioinformatics and Biomedicine, BIBM 2024

作者： Zhang, Fuquan Wu, Yu Xu, Xinxin Wang, Chuansheng Ma, Minjia Grau, Antoni Huang, Jiayan School of Computer and Big Data Minjiang University Fuzhou China Fujian Provincial Key Laboratory of Information Processing and Intelligent Control Minjiang University Fuzhou China College of New Engineering Industry Putian University Putian China Department of Automatic Control Polytechnic University of Catalonia Barcelona Spain School of Robotics Xi'an Jiaotong-Liverpool University Suzhou China College of New Engineering Industry Putian University Fujian Ruituo Information Technology Limited Company Putian China

ISBN: (纸本)9798350386226

Fatigue driving is a common potential traffic safety hazard. To detect and analysis the driver Fatigue degree in real-time, more attention have been increasing paid to application research of EEG fatigue detection device. However, existing methods suffer from complex model structure or large-scale model parameters. In the other words, they requires high computational consumption and large memory footprint, which creates a contradiction between model and portable EEG machine with limited hardware resources. In this work, we take both time and frequency domains of EEG signal into account and design an lightweight and efficient driver fatigue detection network based on GCN (EEG-GNet), which is available edge-end device application. Experiments on 4th Raspberry Pi on a public baseline dataset show that our EEG-GNet outperforms the state-of-the-art methods and takes good tradeoff between detection accuracy and resource consumption. Our EEG-GNet provides a new potential opportunity for future applications in practical portable/wearable (P/W) devices. © 2024 IEEE.

关键词： Electrocardiography

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An algorithm for modeling an environment and creating a semantic model of its topology

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Procedia Computer Science 2021年 192卷 612-621页

作者： Daniel Figurowski Paweł Dworak Department of Automatic Control and Robotics West Pomeranian University of Technology Szczecin Poland

This paper discusses the problem of a semantic topology map generation during the environment mapping process. A method is proposed which provides a model of a mobile robot’s working space. The proposed world representation is divided into two maps: semantic topology map and metric map. The first one is created by employing graph structure which describes relations between different zones generated during exploration of the environment, and the metric one which defines zones by expandable polygonal chain of border points. The acquired hierarchical world model can be used in the path planning and decision tasks in a human-friendly way by the means of semantic sentences. Such approach increases versatility of human-robot cooperation. The proposed algorithm has been validated in an experiment and the obtained results which shows a good performance of the devised method are presented.

关键词： environment mapping topology graph semantic map

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Event-Based Supervisors for the Maintenance Process of a Printing Machine

Event-Based Supervisors for the Maintenance Process of a Pri...

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Panhellenic Conference on Electronics and Telecommunications (PACET)

作者： Nikolaos D. Kouvakas Fotis N. Koumboulis Dimitrios G. Fragkoulis Stelios Rempelos Department of Digital Industry Technologies School of Science Robotics Automatic Control and Cyber-Physical Systems Laboratory National and Kapodistrian University of Athens Euboea Greece Core Department National and Kapodistrian University of Athens Euboea Greece

A set of event-based supervisors is developed to control the maintenance process of a printing machine. The Discrete Event System descriptions of the distinct tasks of the maintenance process are in the form of Finite State Machines. The desired behavior is expressed as four behavioral rules. The rules are translated to regular languages realized by appropriate supervisor automaton. The supervisor’s physical realizability is proved and the blocking avoidance of the controlled printing machine is satisfied.

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Memory-Efficient Graph Convolutional Networks for Object Classification and Detection with Event Cameras

Memory-Efficient Graph Convolutional Networks for Object Cla...

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

作者： Kamil Jeziorek Andrea Pinna Tomasz Kryjak Department of Automatic Control and Robotics Embedded Vision Systems Group AGH University of Krakow Poland Sorbonne Universite CNRS LIP6 Paris France

Recent advances in event camera research emphasize processing data in its original sparse form, which allows the use of its unique features such as high temporal resolution, high dynamic range, low latency, and resistance to image blur. One promising approach for analyzing event data is through graph convolutional networks (GCNs). However, current research in this domain primarily focuses on optimizing computational costs, neglecting the associated memory costs. In this paper, we consider both factors together in order to achieve satisfying results and relatively low model complexity. For this purpose, we performed a comparative analysis of different graph convolution operations, considering factors such as execution time, the number of trainable model parameters, data format requirements, and training outcomes. Our results show a 450-fold reduction in the number of parameters for the feature extraction module and a 4.5-fold reduction in the size of the data representation while maintaining a classification accuracy of 52.3%, which is 6.3% higher compared to the operation used in state-of-the-art approaches. To further evaluate performance, we implemented the object detection architecture and evaluated its performance on the N-Caltech101 dataset. The results showed an accuracy of 53.7% mAP@0.5 and reached an execution rate of 82 graphs per second.

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control Contraction Metrics on Submanifolds

Control Contraction Metrics on Submanifolds

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IEEE Conference on Decision and control

作者： Dongjun Wu Bowen Yi Ian R. Manchester Department of Automatic Control Lund University Box 118 Lund Sweden Department of Electrical Engineering & GERAD Polytechnique Montreal QC Canada Australian Centre for Robotics and School of Aerospace Mechanical and Mechatronic Engineering The University of Sydney Australia

ISBN: (数字)9798350316339

ISBN: (纸本)9798350316346

In this paper, we extend the control contraction metrics (CCM) approach, which was originally proposed for the universal tracking control of nonlinear systems, to those that evolves on submanifolds. We demonstrate that the search for CCM on submanifolds can be reformulated as convex conditions. In particular, since Lie groups can be viewed as submanifolds in Euclidean space, the results are directly applicable to this setting.

关键词： Measurement Lie groups Aerospace electronics control systems Nonlinear systems

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