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

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

引用

2024 International Conference on Machine Learning, Pattern Recognition and Automation Engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Input-Output Supervisor Design for Systems Analyzed in Cooperating Pairs of Subsystems 32

Input-Output Supervisor Design for Systems Analyzed in Coope...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. School of Science National & Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

The problem of supervisor design for systems analyzed in cooperating pairs of subsystems is studied. The supervisors realize the cooperation using only sensor and actuator data of each pair of subsystems. The analysis of the system in cooperating pairs of subsystems covers a wide range of applications. Each cooperating ordered pair forms a master/slave relation between the sensor signals of the second element of the pair and the actuator of the first element of the pair. All possible cooperation relations are determined and investigated with respect to the avoidance of blocking and stuck to the initial states of the actuators. The system properties of the cooperation are formulated in a set theoretic scheme that allows the determination of the set of admissible cooperation rules. The present theoretical results are illustrated through one manufacturing application and one infrastructure application. © 2024 IEEE.

关键词： Supervisory personnel

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Supervisory control for Smart Manufacturing Using FIWARE 3

Supervisory Control for Smart Manufacturing Using FIWARE

引用

3rd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2024

作者： Menexis, Antonios N. Fragkoulis, Dimitrios G. Koumboulis, Fotis N. Kouvakas, Nikolaos D. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea 34400 Greece

ISBN: (纸本)9798331540319

The problem of providing smart manufacturing units, via supervisor control implemented in FIWARE, is studied. In order to investigate the problem at hand, an indicative manufacturing unit is considered, and the desired safe performance of the unit is achieved via a supervisory control architecture, being implemented in cloud computing environment. The model of the manufacturing unit is developed on the basis of the models of its sensors and actuators, in Discrete Event System (DES) form. The safe behavior of the unit is expressed in the form of nine rules. The rules are translated into nine regular languages that are realized as a set of proper supervisors. The supervisors are analytically determined and conducted in the open platform FIWARE, using all necessary smart data models and platform tools. © 2024 IEEE.

关键词： Smart manufacturing

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Information-Theoretic Lower Bounds of the Quadratic Cost in Stochastic control with Partial Observation 21st

Information-Theoretic Lower Bounds of the Quadratic Cost i...

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21st Polish control Conference, PCC 2023

作者： Bania, Piotr Department of Automatic Control and Robotics AGH University of Science and Technology in Krakow Mickiewicza 30 Avenue Krakow30-059 Poland

ISBN: (纸本)9783031351723

Stochastic control with quadratic cost and partial, noisy observation has been considered. It has been proven, under rather natural assumptions, that the cost function is lower bounded by two types of bounds. The first one is convex increasing function of the mutual information between observations and state of the system. The second bound is decreasing function of the mutual information between control sequence and the state. Considerations are illustrated with simple example. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Cost functions

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A Two-Step Design for Robust Input-Output Decoupling of a Class of Uncertain and Linear Parameter Dependent Systems 32

A Two-Step Design for Robust Input-Output Decoupling of a Cl...

引用

32nd Mediterranean Conference on control and Automation, MED 2024

作者： Skarpetis, Michael G. Koumboulis, Fotis N. School of Science National and Kapodistrian University of Athens Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies Euboea34400 Greece

ISBN: (纸本)9798350395440

This research delves into the intricacies of achieving input-output decoupling for a class of uncertain linear parameter dependent systems. A combined approach is introduced, involving the utilization of a state feedback controller that incorporates both static and time-varying elements. The design of this controller aims to maintain insensitivity to uncertainties. The investigation establishes criteria for determining the feasibility of solving the robust input-output decoupling problem. Under these established conditions, a specific class of state feedback controllers is systematically identified as proficient in effectively addressing the stated problem. The proposed methodology entails deriving the controller and formulating solvability conditions to convert the original Parameter Dependent System (PDS) into an uncertain Linear Time-Invariant (L TI) system. Then an analytical presentation of a static state feedback controller is provided as a mean to resolve the input-output robust decoupling for the uncertain L TI system. The practical applicability of these findings is exemplified through successful implementation in a two-mass translation system, appropriately linked with a hydraulic actuator. © 2024 IEEE.

关键词： controllers

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Diploma Projects for LAB Equipment Rental - How Students Can Help University in the Covid-19 Era 9

Diploma Projects for LAB Equipment Rental - How Students Can...

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9th IEEE International Conference on e-Learning in Industrial Electronics, ICELIE 2022

作者： Bauer, Waldemar Grobler-Debska, Katarzyna Kucharska, Edyta Baranowski, Jerzy AGH University of Science and Technology Department of Automatic Control Robotics Krakow Poland

ISBN: (数字)9781665489904

ISBN: (纸本)9781665489904

Covid-19 pandemic hit a giant blow on in-person education. This was especially difficult when teaching laboratory related exercises. In this paper we show that we can treat this hardship as an opportunity, and engage students into creating tools that help their colleagues. In this particular case we present diploma projects that constituted equipment rental apps. We show that such form of diploma increases motivation and leads to nice results. © 2022 IEEE.

关键词： Students

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Real-time HOG+SVM based object detection using SoC FPGA for a UHD video stream 11

Real-time HOG+SVM based object detection using SoC FPGA for ...

引用

11th Mediterranean Conference on Embedded Computing, MECO 2022

作者： Wasala, Mateusz Kryjak, Tomasz Agh University of Science and Technology Department of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9781665468282

Object detection is an essential component of many vision systems. For example, pedestrian detection is used in advanced driver assistance systems (ADAS) and advanced video surveillance systems (AVSS). Currently, most detectors (e.g. the YOLO - You Only Look Once - family) use deep convolutional neural networks. However, due to their high computational complexity, they are not able to process a very high-resolution video stream in real-time, especially within a limited energy budget. In this paper we present a hardware implementation of the well-known pedestrian detector with HOG (Histogram of Oriented Gradients) feature extraction and SVM (Support Vector Machine) classification. Our system running on {AMD} {Xilinx Zynq UltraScale}+ {MPSoC} (Multiprocessor System on Chip) device allows real-time processing of 4K resolution (UHD - Ultra High Definition, 3840 times 2160 {pixels}) video for 60 frames per second. The system is capable of detecting a pedestrian in a single scale. The results obtained confirm the high suitability of reprogrammable devices in the real-time implementation of embedded vision systems. © 2022 IEEE.

关键词： Field programmable gate arrays (FPGA)

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Diabetic Foot Ulcer Unsupervised Segmentation with Vision Transformers Attention 4th

Diabetic Foot Ulcer Unsupervised Segmentation with Vision T...

引用

4th Diabetic Foot Ulcers Grand Challenge, DFUC 2024 held in Conjunction 27th International Conference on Medical Image Computing and Computer Assisted Intervention, MICCAI 2024

作者： Brodzicki, Andrzej Kucharski, Dariusz Moniak, Bartlomiej Kostuch, Aleksander Noworolnik, Filip Anna, W. Jaworek-Korjakowska, Joanna Department of Automatic Control and Robotics AGH University of Kraków Kraków Poland Center of Excellence in Artificial Intelligence AGH University of Kraków Kraków Poland

ISBN: (纸本)9783031808708

The Diabetic Foot Ulcer Challenge is a global computer vision competition organised to raise awareness of the complications caused by diabetes and motivate researchers to develop solutions that might help in the treatment. In 2024, the challenge focused on self-supervised learning methods and synthetic data, as the process of collecting and labelling medical data is a tedious one. In this research, we present a novel, two-stage method for self-supervised DFU segmentation. It is based on a Vision Transformer attention from classification pre-task, followed by U-Net weakly supervised segmentation refinement. Our solution took 3rd place on the challenge leaderboard, with a 0.4796 Dice Score on the test set. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Distribution transformers

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Networked PID controller Design for a Heating System

Networked PID Controller Design for a Heating System

引用

2024 Panhellenic Conference on Electronics and Telecommunications, PACET 2024

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

ISBN: (纸本)9798350318845

This work studies the issue of remotely controlling a single room's temperature using a central heating system. The models of the components of the heating system setup are derived by equivalent electric circuits. The combined nonlinear description of the process is used to produce a linear approximant. A Proportional, Integral plus Derivative (PID) controller, located at a considerable distance from the process and receiving measurements and transmitting actuation signals via a wireless network, is designed based on the linear approximant and towards room temperature control. A metaheuristic approach, satisfying stability, approximate model matching, asymptotic command following, and disturbance attenuation, is used to calculate the controller parameters. The suggested scheme's performance is illustrated through simulations. © 2024 IEEE.

关键词： controllers

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Energy Efficient Hardware Acceleration of Neural Networks with Power-of-Two Quantisation

Energy Efficient Hardware Acceleration of Neural Networks wi...

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International Conference on Computer Vision and Graphics, ICCVG 2022

作者： Przewlocka-Rus, Dominika 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)9783031220241

Deep neural networks virtually dominate the domain of most modern vision systems, providing high performance at a cost of increased computational complexity. Since for those systems it is often required to operate both in real-time and with minimal energy consumption (e.g., for wearable devices or autonomous vehicles, edge Internet of Things (IoT), sensor networks), various network optimisation techniques are used, e.g., quantisation, pruning, or dedicated lightweight architectures. Due to the logarithmic distribution of weights in neural network layers, a method providing high performance with significant reduction in computational precision (for 4-bit weights and less) is the Power-of-Two (PoT) quantisation (and therefore also with a logarithmic distribution). This method introduces additional possibilities of replacing the typical for neural networks Multiply and ACcumulate (MAC—performing, e.g., convolution operations) units, with more energy-efficient Bitshift and ACcumulate (BAC). In this paper, we show that a hardware neural network accelerator with PoT weights implemented on the Zynq UltraScale + MPSoC ZCU104 SoC FPGA can be at least 1.4x more energy efficient than the uniform quantisation version. To further reduce the actual power requirement by omitting part of the computation for zero weights, we also propose a new pruning method adapted to logarithmic quantisation. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： System-on-chip

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