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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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Estimating Chlorophyll Content from Hyperspectral Data Using Gradient Features 23rd

Estimating Chlorophyll Content from Hyperspectral Data Usin...

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23rd International Conference on Computational Science, ICCS 2023

作者： Ruszczak, Bogdan Wijata, Agata M. Nalepa, Jakub Faculty of Electrical Engineering Automatic Control and Informatics Department of Informatics Opole University of Technology Opole Poland Faculty of Biomedical Engineering Silesian University of Technology Zabrze Poland Faculty of Automatic Control Electronics and Computer Science Department of Algorithmics and Software Silesian University of Technology Gliwice Poland KP Labs Gliwice Poland

ISBN: (纸本)9783031360206

Non-invasive estimation of chlorophyll content in plants plays an important role in precision agriculture. This task may be tackled using hyperspectral imaging that acquires numerous narrow bands of the electromagnetic spectrum, which may reflect subtle features of the plant, and inherently offers spatial scalability. Such imagery is, however, high-dimensional, therefore it is challenging to transfer from the imaging device, store and investigate. We propose a machine learning pipeline for estimating chlorophyll content from hyperspectral data. It benefits from the Savitzky-Golay filtering to smooth the (potentially noisy) spectral curves, and from gradient-based features extracted from such a smoothed signal. The experiments revealed that our approach significantly outperforms the state of the art according to the widely-established estimation quality metrics obtained for four chlorophyll-related parameters. © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Machine learning

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A Review on Electric Vehicles Charging Strategies concerning Actors Interests

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2022年第2期66卷 148-162页

作者： Sabzi, Shahab Vajta, Laszlo Faghihi, Tayebeh Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. BudapestH-1111 Hungary

Electric vehicles are becoming increasingly popular in societies and an important part of smart grids. Utility companies should be able to provide them with vital energy as they need electric energy instead of fuel, and this is where new challenges emerge in the network. In order to avoid causing utilities to incur additional energy and economic losses, researchers have proposed smart charging as a way to provide adequate energy to vehicles. When developing a charging schedule for a fleet of EVs, special considerations are made on variables such as energy, cost, and EVs milage. In this review paper, the importance of EVs integration into smart grids is studied, and then different methods to develop EVs charging scheduling are investigated. These methods can vary from optimization algorithms to learning-based, and game theory-based approaches. Then, as the considered system consists of three main actors, including EV users, the utility operator, and aggregators, a systematic review is conducted on these actors, and objectives related to each one are analyzed. Finally, research gaps related to the problem are studied. Researchers can use this review to conduct further research on the integration of EVs into smart grids. © 2022 Budapest University of Technology and Economics. All rights reserved.

关键词： Electric vehicles

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Accounting for Non-Uniform Ambient Lighting in Ray Traced Ambient Occlusion

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2022年第3期66卷 248-252页

作者： Fridvalszky, András Tóth, Balázs Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Muegyetem rkp. 3. BudapestH-1111 Hungary

Ambient occlusion is a popular method to enhance the visuals of real-time applications. The generally accepted equation assumes that incoming ambient lighting is uniform in the enclosing hemisphere around the surface point. This assumption does not always hold and can cause artifacts. With screen-space techniques the artifact may not be present, because of the lack of information, but it becomes visible with more accurate methods. This is especially true for ray tracing based implementations which are widely used to create the ground truth image to measure other techniques. With recent advancements of the graphics hardware, they also found their way into real-time applications where these shortcomings were neither discussed nor addressed. In this paper we analyze the problem and demonstrate its presence in popular game engines. We also propose a ray tracing based extension to eliminate these artifact in a physically plausible way. © 2022 Budapest University of Technology and Economics. All rights reserved.

关键词： Ray tracing

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NLP-Assisted Educational Memory Game Experiment 13th

NLP-Assisted Educational Memory Game Experiment

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13th International Conference on Methodologies and Intelligent Systems for Technology Enhanced Learning, mis4TEL 2023

作者： Burkus, Viktória Kárpáti, Attila Szécsi, László Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Műegyetem rkp. 3. Budapest1111 Hungary

ISBN: (纸本)9783031421334

Memory card games are well-known for everyone. Their main goal is to find matching pairs among flipped cards by simultaneously turning two cards up. In each round information obtained and memorized from the previous round is used to predict matching pair positions. Whilst playing, a player’s thinking, memory, concentration, and attention skills can be improved, therefore, incorporating it into the learning process may be beneficial to the learner. In this research, we present a method for learning terminology from a scientific context by playing an AI-generated memory card game. We employ a general-purpose conversation chatbot, ChatGPT to generate the keyword-description pairs from a given scientific text. The primary purpose of our study is to evaluate the outcomes, with respect to their scientific accuracy and educational value. Consequently, we present a straightforward approach to constructing a game that facilitates the acquisition of knowledge by students in an enjoyable and playful way. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Natural language processing systems

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Estimating the AGV load and a battery lifetime based on the current measurement and random forest application

Estimating the AGV load and a battery lifetime based on the ...

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2023 IEEE International Conference on Big Data, BigData 2023

作者： Hanzel, Krzysztof Grzechca, Damian Ziebinski, Adam Chruszczyk, Lukas Janus, Artur Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Telecommunications and Teleinformatics Gliwice Poland Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Electronics Electrical Engineering and Microelectronics Gliwice Poland Silesian University of Technology Faculty of Automatic Control Electronics and Computer Science Department of Distributed Systems and Informatics Devices Gliwice Poland Silesian University of Technology Student of Electrical EngineeringFaculty of Electrical Engineering Gliwice Poland

ISBN: (纸本)9798350324457

The paper describes the energy consumption from the battery based on the current measurements for various cases, i.e., speed (PWL adjustment) and loads. The main purpose of the research is to have additional and reliable information about power consumption and battery life estimation for autonomous guided vehicles (AGV). The authors propose a two-step algorithm. In the first step, a linear classifier was proposed. Then, the KNN classifier was tested;however, it did not give satisfactory results, so it was finally decided to use the random forest to estimate the load and PWL. The time domain current measurement is evaluated, and the beforementioned algorithms process the selected statistical measures. It has been proven that a two-step algorithm allows for achieving high accuracy. Based on the current observation, the paper is a good starting point for further investigation of the AGV because it is usually implemented in the AGV - so it does not require additional hardware. Moreover, it can lead to better energy management and increase battery lifetime. © 2023 IEEE.

关键词： AGV load estimation machine learning Prediction of energy consumption random forest

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Modelling and Attitude control of an Agile Fixed Wing UAV based on Nonlinear Dynamic Inversion

Periodica polytechnica Electrical engineering and computer s...

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Periodica polytechnica electrical engineering and computer science 2022年第3期66卷 227-235页

作者： Kimathi, Stephen Lantos, Béla Department of Control Engineering and Information Technology Faculty of Electrical Engineering and Informatics Budapest University of Technology and Economics Magyar tudósok krt. 2. BudapestH-1117 Hungary

An estimation model is key in the design and development of an unmanned aerial vehicle's control system. This work presents a complete methodology for modelling the dynamics of a fixed-wing UAV for aerobatic maneuvers. The UAV dynamic non-linear model considered uses total variables instead of a nominal values and perturbation values about certain trimmed conditions for conventional flight envelopes. Such modelling allows the expansion of the flight envelope of an unmanned aerial vehicle to cover the full range of the angle of attack. The quaternion formulation is used since it eliminates the nonlinearity of the aerodynamics due to Euler angles for high angle of attacks. The objective is to have a complete and accurate representation of a highly dynamic fixed wing UAV capable of making aerobatic maneuvers without encountering singularities. A set of controllers are then designed for the inner and outer loops for attitude control using nonlinear dynamic inversion in cascade with a PI controller. Simulations carried out show robust tracking of reference attitude angles. © 2022 Budapest University of Technology and Economics. All rights reserved.

关键词： Fixed wings

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Quaternion based attitude control of a maneuvering fixed wing UAV 26

Quaternion based attitude control of a maneuvering fixed win...

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26th IEEE International Conference on Intelligent engineering Systems, INES 2022

作者： Kimathi, Stephen Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665492096

ISBN: (纸本)9781665492096

This paper presents attitude control using the unit quaternion. Specifically, the orientation of a maneuvering fixed wing U A V is investigated through set point tracking. Two formulations are explored;the first, through quaternion error dynamics and the second, through quaternion logarithm. Both methods apply appropriate Lyapunov functions for the design and analysis of the closed stability of the control laws. The error dynamics are deduced from composite rotations between different frames of the UA V. Through the error dynamics, the orientation of the UAV's wind frame is aligned to a desired orientation. Using this procedure, the desired equilibrium points of the closed system are guaranteed to converge and are asymptotically stable. The formulation and implementation of these two methods is simple and intuitive, and through simulations, their successful use and effectiveness is shown. © 2022 IEEE.

关键词： Fixed wings

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Unmanned Aerial Vehicles Swarm Flocking Architectures: An Overview 10

Unmanned Aerial Vehicles Swarm Flocking Architectures: An Ov...

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10th IEEE Jubilee International Conference on Computational Cybernetics and Cyber-Medical Systems, ICCC 2022

作者： Kimathi, Stephen Lantos, Béla Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (数字)9781665481779

ISBN: (纸本)9781665481779

The eruption of unmanned aerial vehicles (UAVs) use has disrupted the aviation industry. More recently, swarming in UAVs has been gaining popularity and has attracted a huge interest from researchers and industry players due to their potential application in various fields. A UAV swarm, which is a collection of many UAVs has the capability of autonomous navigation and operation hence suitable for diverse applications. The capabilities inherent in a single UAV are expounded by having many such vehicles performing similar or differentiated tasks while flying together. The potential of UAV swarms is yet to be fully explored as many researches are still concerned with the theoretic specifics of these complex multi-agent systems. The purpose of this article is to provide an overview of the swarm flocking architectures used in UAVs and their origin. Also some applications and challenges of swarming in UAVs is presented. © 2022 IEEE.

关键词： Multi agent systems

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Prediction of the Navigation Angles Using Random Forest Algorithm and Real Flight Data of UAVs 20

Prediction of the Navigation Angles Using Random Forest Algo...

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20th IEEE Jubilee International Symposium on Intelligent Systems and informatics, SISY 2022

作者： Al-Sudany, Huda Naji Lantos, Bela Budapest University of Technology and Economics Faculty of Electrical Engineering and Informatics Department of Control Engineering and Information Technology Budapest Hungary

ISBN: (纸本)9781665489881

Unmanned aerial vehicles (UAVs) are becoming more common in aviation. Predicting and estimating of UAV attitude are important aspects of the communication strategy. Autonomous UAVs' attitude estimate is a crucial component for controlling in flight mission. The attitude can take many forms such as Euler angles and Quaternion. This paper explains attitude estimation of UAV using Random Forest (RF) algorithm based on real flight data of Accelerations, Angular velocity, Magnetic Field, and GPS measurements for prediction current attitude angles (roll, pitch and yaw). The developed algorithm uses features that are derives from sensors measurements. The developed RF model results showed accurate prediction of UAVs attitude angles with small error values. © 2022 IEEE.

关键词： Forecasting

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