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arXiv 2023年

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

Object detection in 3D is a crucial aspect in the context of autonomous vehicles and drones. However, prototyping detection algorithms is time-consuming and costly in terms of energy and environmental impact. To address these challenges, one can check the effectiveness of different models by training on a subset of the original training set. In this paper, we present a comparison of three algorithms for selecting such a subset – random sampling, random per class sampling, and our proposed MONSPeC (Maximum Object Number Sampling per Class). We provide empirical evidence for the superior effectiveness of random per class sampling and MONSPeC over basic random sampling. By replacing random sampling with one of the more efficient algorithms, the results obtained on the subset are more likely to transfer to the results on the entire dataset. The code is available at: https://***/vision-agh/monspec. © 2023, CC BY.

关键词： Object detection

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Comparative study of subset selection methods for rapid prototyping of 3D object detection algorithms

Comparative study of subset selection methods for rapid prot...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Konrad Lis Tomasz Kryjak Department of Automatic Control and Robotics Embedded Vision Systems Group AGH University of Krakow Poland

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Comparative study of subset selection methods for rapid prototyping of 3D object detection algorithms

TechRxiv

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TechRxiv 2023年

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

关键词： Object detection

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Analysis of YouTube Video Comments with NLP Methods 16

Analysis of YouTube Video Comments with NLP Methods

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16th International Conference on Electronics, Computers and Artificial Intelligence, ECAI 2024

作者： Mironela, Pirnau Iustin, Priescu Mihaela, Priescu Catalina Claudiu, Pirnau Daniel, Ghiculescu Liviu 'Titu Maiorescu' University Faculty of Informatics Department of Informatics Bucharest Romania National University of Science and Technology Politehnica Bucharest Faculty of Automatic Control and Computer Science Bucharest Romania National University of Science and Technology Politehnica Bucharest Faculty of Industrial Engineering and Robotics Manufacturing Engineering Department Bucharest Romania

ISBN: (纸本)9798350371154

This study proposes methods that can be used to examine and interpret comments that users have made after watching videos on YouTube on a particular topic. YouTube tutorials are very popular among young people. They have become an important pillar in informal education, thus contributing to the rapid acquisition of skills and knowledge. Under these circumstances, we were interested in analysing the YouTube videos comments, knowing that the platform has a continuous increase in popularity, which is also due to the opportunities of sharing them. Since ChatGPT-themed YouTube videos have seen a significant surge in popularity since 2022, we were interested to analyse some videos that approach the topics of 'ChatGPT, AI clone, AI robot and Deep Learning.' © 2024 IEEE.

关键词： Deep learning

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Modelling and control of a Parametric Wafer Manufacturing Process 15

Modelling and Control of a Parametric Wafer Manufacturing Pr...

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15th IEEE International Conference on Industry Applications, INDUSCON 2023

作者： Koumboulis, Fotis N. Fragkoulis, Dimitrios G. Mparkas, Dimitrios Robotics Automatic Control and Cyber-Physical Systems Laboratory Department of Digital Industry Technologies School of Science National and Kapodistrian University of Athens Euripus Campus 34400 Greece Core Department National and Kapodistrian University of Athens Euripus Campus 34400 Greece

ISBN: (纸本)9798350314182

In the present paper the mathematical model of a wafer manufacturing process is presented using Discrete Event Systems. The novelty of the proposed mathematical description is the parametric number of vacuum chambers and robotic manipulators, as well as that three vacuum chambers and the respective buffers are served by each robotic manipulator. The last robotic manipulator serves a parametric number of champers depending on the total number of vacuum chambers modulo 3. The desired behavior of the process is expressed in the form of a set of regular languages. The realization of each regular language in the form of a supervisor automaton is developed. The satisfactory performance of the controlled automaton is derived. The present result can be considered as the first attempt towards the study of wafer manufacturing processes, where each robotic manipulator serves a parametric number of vacuum chambers and buffers. ©2023 IEEE.

关键词： Discrete Event Systems Supervisory control Wafer Manufacturing Units

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How to Teach Fractional Calculus Inspired Electronics Remotely? 9

How to Teach Fractional Calculus Inspired Electronics Remote...

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

作者： Bauer, Waldemar Kucharska, Edyta Baranowski, Jerzy Kapoulea, Stavroula Bertsias, Panagiotis Psychalinos, Costas AGH University of Science and Technology Department of Automatic Control Robotics Krakow Poland University of Patras Electronics Laboratory Rio Patras Physics Department GR26504 Greece

ISBN: (数字)9781665489904

ISBN: (纸本)9781665489904

In this paper we consider the problem of teaching fractional calculus concepts, applied to practice, remotely. This advanced concepts require both appropriate tools and proper project planning. In this paper we discuss both. Especially we present a high level case study as an example of interlocking multiple parts of advanced project. © 2022 IEEE.

关键词： E-learning

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Multiagent Consensus over Time-Invariant and Time-Varying Signed Digraphs via Eventual Positivity

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IEEE Transactions on automatic control 2023年第9期68卷 5429-5444页

作者： Fontan, Angela Wang, Lingfei Hong, Yiguang Shi, Guodong Altafini, Claudio Linköping University Division of Automatic Control Department of Electrical Engineering LinköpingSE-58183 Sweden KTH Royal Institute of Technology Division of Decision and Control Systems StockholmSE-10044 Sweden Chinese Academy of Sciences Key Laboratory of Systems and Control Academy of Mathematics and Systems Science Beijing100190 China University of Chinese Academy of Sciences Beijing100190 China Tongji University Department of Control Science and Engineering Shanghai201804 China University of Sydney Australian Center for Field Robotics School of Aerospace Mechanical and Mechatronic Engineering SydneyNSW2008 Australia

Laplacian dynamics on signed digraphs have a richer behavior than those on nonnegative digraphs. In particular, for the so-called 'repelling' signed Laplacians, the marginal stability property (needed to achieve consensus) is not guaranteed a priori and, even when it holds, it does not automatically lead to consensus, as these signed Laplacians may lose rank even in strongly connected digraphs. Furthermore, in the time-varying case, instability can occur even when switching in a family of systems each of which corresponds to a marginally stable signed Laplacian with the correct corank. In this article, we present novel conditions for achieving consensus on signed digraphs based on the property of eventual positivity, a Perron-Frobenius (PF) type of property for signed matrices. The conditions we develop cover both time-invariant and time-varying cases. A particularly simple sufficient condition, valid in both cases, is that the Laplacians are normal matrices. Such condition can be relaxed in several ways. For instance, in the time-invariant case it is enough that the Laplacian has this PF property on the right side, but not on the left side (i.e., on the transpose). For the time-varying case, convergence to consensus can be guaranteed by the existence of a common Lyapunov function for all the signed Laplacians. All conditions can be easily extended to bipartite consensus. © 1963-2012 IEEE.

关键词： Lyapunov functions

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Using AI for Healthcare Management – Vinci Medicine solution

Using AI for Healthcare Management – Vinci Medicine solutio...

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International Conference on Methods and Models in Automation and robotics (MMAR)

作者： Nataliia Kashpruk Jerzy Baranowski Wojciech Bachta Department of Automatic Control and Robotics AGH University of Krakow Krakow Poland Department of Automatic Control and Robotics AGH University of Krakow Poland Da Vinci Studio sp.z o.o Bielsko-Biała Poland

This paper describes the development of Vinci Medicine, a comprehensive healthcare system that utilizes machine learning and mobile technology. The system comprises a mobile application, an administrative panel, a machine learning module, and a database. The mobile application allows users to input their symptoms and receive appropriate medical advice based on the analysis provided by the machine learning module. The administrative panel provides staff members access to the system's backend, allowing them to manage appointments and doctor schedules. The machine learning module provides preliminary diagnoses and suggests tests and examinations. The database stores user data and medical information. The system was designed with user experience in mind, providing an easy-to-use interface and intuitive navigation. The machine learning module was developed using Python 3.10 and FastAPI, and the database was implemented using MariaDB. The system has been shown to provide accurate diagnoses and suggestions for medical examinations. Vinci Medicine offers a reliable and efficient healthcare solution for users, providing access to medical advice and services from the convenience of their mobile devices.

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Autonomous Cost-Effective Robotic Exploration and Mapping for Disaster Reconnaissance 10

Autonomous Cost-Effective Robotic Exploration and Mapping fo...

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10th International Conference on Emerging Trends in Engineering and Technology - Signal and Information Processing, ICETET-SIP-22 2022

作者： Seenu, N. Manohar, Lokeshwaran Stephen, Nikhit Mathew Ramanathan, Kuppan Chetty Ramya, M.M. Centre for Automation and Robotics Hindustan Institute of Technology and Science Chennai India Technische Universität Dortmund Department of Electrical Engineering and Information Technology Dortmund Germany École Centrale de Nantes Automatic Control and Robotics Department Nantes France

ISBN: (纸本)9781665467414

Natural calamities like earthquake and tsunami wreak havoc on life of so many people and the infrastructure, thus saving people who are trapped in the affected region has been a very difficult task for rescuers. This work aims to develop a system which will ease this task for the rescuers by using behavior based multiple robots that will explore, map, localize, path plan and navigate in an unknown environment. Various incarnations of pre-existing meta-heuristic algorithms are used to develop a cost-effective solution in this work. A random walk exploration is used to explore the entire environment effectively which reduces the computational cost and time. To reduce the complexities of mapping, binary occupancy grid is used for the map layout, which is not as efficient as compared to its counterparts but better, where time is the crucial factor. To identify the efficient path to navigate from source to destination positions in the environment, Particle Swarm Optimization algorithm is used in this paper. The last and the most crucial step of the system is navigation towards the destination. By integrating INS and GPS algorithms, the robot can get an almost perfect algorithm for navigation which is not prone to errors. Autonomous robot exploration, mapping and navigation are achieved by integrating the proposed algorithms to work simultaneously. The effectiveness of the proposed algorithms is analyzed through simulations in Webots virtual simulator environment, and the results are presented. Adapting the proposed exploration technique for swarm of robots is a prospective future research direction of this paper. © 2022 IEEE.

关键词： Legged locomotion Navigation Robot sensing systems Tsunami Sensors Particle swarm optimization Task analysis

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Output Tracking control of a Nonlinear System Based on Takagi-Sugeno Fuzzy Model: Generalized Partial Eigenstructure Assignment Approach

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IEEE Access 2024年 12卷 18520-18535页

作者： Soltanian, Farzad Shasadeghi, Mokhtar Mobayen, Saleh Skruch, Pawel University of Alberta Department of Electrical and Computer Engineering EdmontonABT6G 2M9 Canada Shiraz University of Technology Electrical Engineering Faculty Shiraz71557-13876 Iran National Yunlin University of Science and Technology Graduate School of Intelligent Data Science Yunlin Douliu64002 Taiwan AGH University of Science and Technology Department of Automatic Control and Robotics Kraków30-059 Poland

This paper introduces an innovative optimal control approach to achieve output tracking while incorporating H2-performance specifications in a specific class of nonlinear dynamics modeled by the Takagi-Sugeno fuzzy model (TSFM). The primary innovation lies in extending partial eigenstructure assignment to TSFM-based nonlinear systems within the framework of sliding mode control (SMC). We propose a two-step methodology for designing optimal sliding surface gains. Initially, optimal state feedback gains are computed for each rule consequence containing a linear subsystem, adhering to predetermined eigenvalues and satisfying H2-performance criteria. Subsequently, using a convex combination, the overall state feedback gain is calculated and utilized to design sliding matrix gains. The sliding matrix gains are then determined by strategically combining previously calculated state-feedback gains in a convex optimization problem. We reframe the output tracking strategy as a stabilization problem using a virtual control input and reformulate the optimization task concerning tracking state errors. This process yields state feedback gains, sliding gains, and the formulation of the virtual control input. The effectiveness of our approach is verified through comprehensive simulations, emphasizing its capability in addressing output tracking challenges within nonlinear systems. © 2013 IEEE.

关键词： Transient analysis

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