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

共 515 条记录，以下是11-20 订阅

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On FOPID controller Tuning of a Legless Capsubot Robot 21st

On FOPID Controller Tuning of a Legless Capsubot Robot

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21st Polish control Conference, PCC 2023

作者： Babiarz, Artur Department of Automatic Control and Robotics Silesian University of Technology Akademicka 16 Gliwice Poland

ISBN: (纸本)9783031351723

In this paper the imperialist competitive algorithm is used for searching optimal value of parameters of fractional-order PID (FOPID) regulator which is applied for control system of legless capsubot robot. The tuning was done via minimization of selected cost functions with the use of imperialist competitive algorithm (ICA). Obtained results from simulations are compared and discussed. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cost functions

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Automated Classification of VMT Pathology from Optical Coherence Tomography B-scans 25

Automated Classification of VMT Pathology from Optical Coher...

引用

25th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2022

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

ISBN: (数字)9788362065424

ISBN: (纸本)9788362065424

The research presented in this article aims to determine the possibility of identifying macular pathologies from optical coherence tomography (OCT) images. Early detection of a pathology in the human eye retina is beneficial for patient recovery. Disorders commonly evaluated in clinical practice and research are drusen in age-related macular degeneration (AMD), diabetic macular edema (DME), and choroidal neovascularization (CNV). Our work extends this set of pathologies to include the pathology associated with improper posterior vitreous detachment, namely vitreomacular traction (VMT). Experimental research was based on single line OCT B-scans of healthy eyes and eyes with the investigated pathologies. AMD, DME and CNV images were taken from a public OCT dataset for retina classification, while healthy subjects and VMT images were acquired using an Avanti Optovue device. The accuracy results of more than 97% show the possibility of automatic preliminary diagnosis and differentiation between macular pathologies. © 2022 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： Optical tomography

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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...

引用

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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Intraocular Lens Implant Support System for Patients with Astigmatism 38

Intraocular Lens Implant Support System for Patients with As...

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38th Annual European Simulation and Modelling Conference, ESM 2024

作者： Jaskot, Krzysztof Bieda, Robert Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland

ISBN: (纸本)9789492859334

The paper presents the design of a prototype booster eye surgery. The objective is to optimize the operation of determining and monitoring the axis of the implant toric intraocular artificial lenses for patients with astigmatism. The INTEGRA system is a digital ink-free device for image tracking scleral vessels. It was helpful for determining the implantation axis in a precise and repeatable manner, and measurements were comparable with a manual technique. © 2024 Modelling and Simulation 2024 - 38th Annual European Simulation and Modelling Conference 2024, ESM 2024. All rights reserved.

关键词： Intraocular lenses

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Real-Time Multi-object Tracking Using YOLOv8 and SORT on a SoC FPGA 21st

Real-Time Multi-object Tracking Using YOLOv8 and SORT on a...

引用

21st International Symposium on Applied Reconfigurable Computing, ARC 2025

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

ISBN: (纸本)9783031879944

Multi-object tracking (MOT) is one of the most important problems in computer vision and a key component of any vision-based perception system used in advanced autonomous mobile robotics. Therefore, its implementation on low-power and real-time embedded platforms is highly desirable. Modern MOT algorithms should be able to track objects of a given class (e.g. people or vehicles). In addition, the number of objects to be tracked is not known in advance, and they may appear and disappear at any time, as well as be obscured. For these reasons, the most popular and successful approaches have recently been based on the tracking paradigm. Therefore, the presence of a high quality object detector is essential, which in practice accounts for the vast majority of the computational and memory complexity of the whole MOT system. In this paper, we propose an FPGA (Field-Programmable Gate Array) implementation of an embedded MOT system based on a quantized YOLOv8 detector and the SORT (Simple Online Realtime Tracker) tracker. We use a modified version of the FINN framework to utilize external memory for model parameters and to support operations necessary required by YOLOv8. We discuss the evaluation of detection and tracking performance using the COCO and MOT15 datasets, where we achieve 0.21 mAP and 38.9 MOTA respectively. As the computational platform, we use an MPSoC system (Zynq UltraScale+ device from AMD/Xilinx) where the detector is deployed in reprogrammable logic and the tracking algorithm is implemented in the processor system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： System-on-chip

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High-definition event frame generation using SoC FPGA devices 26

High-definition event frame generation using SoC FPGA device...

引用

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

作者： Blachut, Krzysztof Kryjak, Tomasz AGH University of Krakow Embedded Vision Systems Group Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9798350304985

In this paper we have addressed the implementation of the accumulation and projection of high-resolution event data stream (HD - 1280×720 pixels) onto the image plane in FPGA devices. The results confirm the feasibility of this approach, but there are a number of challenges, limitations and trade-offs to be considered. The required hardware resources of selected data representations, such as binary frame, event frame, exponentially decaying time surface and event frequency, were compared with those available on several popular platforms from AMD Xilinx. The resulting event frames can be used for typical vision algorithms, such as object classification and detection, using both classical and deep neural network methods. © 2023 Division of Signal Processing and Electronic Systems, Poznan University of Technology (DSPES PUT).

关键词： System-on-chip

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LiFT: Lightweight, FPGA-Tailored 3D Object Detection Based on LiDAR Data 18th

LiFT: Lightweight, FPGA-Tailored 3D Object Detection Based o...

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18th International Workshop on Design and Architecture for Signal and Image Processing, DASIP 2025

作者： Lis, Konrad Kryjak, Tomasz Gorgoń, Marek Embedded Vision Systems Group Department of Automatic Control and Robotics AGH University of Krakow Al. Mickiewicza 30 Krakow30-059 Poland

ISBN: (纸本)9783031878961

This paper presents LiFT, a lightweight, fully quantized 3D object detection algorithm for LiDAR data, optimized for real-time inference on FPGA platforms. Through an in-depth analysis of FPGA-specific limitations, we identify a set of FPGA-induced constraints that shape the algorithm’s design. These include a computational complexity limit of 30 GMACs (billion multiply-accumulate operations), INT8 quantization for weights and activations, 2D cell-based processing instead of 3D voxels, and minimal use of skip connections. To meet these constraints while maximizing performance, LiFT combines novel mechanisms with state-of-the-art techniques such as reparameterizable convolutions and fully sparse architecture. Key innovations include the Dual-bound Pillar Feature Net, which boosts performance without increasing complexity, and an efficient scheme for INT8 quantization of input features. With a computational cost of just 20.73 GMACs, LiFT stands out as one of the few algorithms targeting minimal-complexity 3D object detection. Among comparable methods, LiFT ranks first, achieving an mAP of 51.84% and an NDS of 61.01% on the challenging NuScenes validation dataset. The code will be available at https://***/vision-agh/lift. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： 3d object detection FPGA LiDAR NuScenes quantisation

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Modeling of Thermal Processes in a Microcontroller System with the Use of Hybrid, Fractional Order Transfer Functions 21st

Modeling of Thermal Processes in a Microcontroller System wi...

引用

21st Polish control Conference, PCC 2023

作者： Oprzedkiewicz, Krzysztof Rosol, Maciej Mitkowski, Wojciech 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)9783031351693

In the paper the problem of modeling of thermal processes in microcontroller system is addressed. The proposed models allow to describe thermal processes during work of an evaluation system. The temperature in critical places of the system is measured using thermal camera. The proposed models have the form of hybrid transfer functions, containing both Integer Order (IO) and Fractional Order (FO) parts. The step responses of the proposed transfer functions are computed analytically. Results of experiments show that the proposed models are more accurate in the sense of Mean Square Error (MSE) cost function than typical transfer function models with delay. The proposed models can be applied to predict of overheating of microcotroller systems. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Microcontrollers

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

Influence of Histogram Equalization on Multi-Classification ...

引用

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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