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11th IEEE International Conference on E-Learning in Industrial Electronics, ICELIE 2024

作者： Gaweda, Bartlomiej Bauer, Waldemar Baranowski, Jerzy AGH University of Krakow Dept. of Automatic Control and Robotics Krakow Poland

ISBN: (纸本)9798350363654

In this paper we consider an important problem in teaching of advanced theory is that you need access to complicated software. In many cases in order to allow students to participate in more challenging classes, like Bayesian data analysis, or advanced FPGA programming you encounter an issue that setting up the relevant software on their machines consumes significant part of the course, and you need to troubleshoot issues that are irrelevant to the actual topic. We present a solution from our own experience that is using container software i.e. Docker and we show how it significantly improved our work when teaching data analytics and Bayesian methods in general. © 2024 IEEE.

关键词： containers probabilistic programming teaching statistical modeling

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Mixture Based Classifier Using Gaussian Processes for Induction Motor Diagnosis 50

Mixture Based Classifier Using Gaussian Processes for Induct...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Dudek, Adrian Jarzyna, Kacper Baranowski, Jerzy Dept. of Automatic Control and Robotics AGH University of Kraków Kraków Poland

ISBN: (纸本)9781665464543

This paper explores the use of Gaussian Processes (GPs) and Gaussian Mixture Models (GMMs) for diagnosing induction motors. GPs provide flexible, non-linear models that handle noisy data, while GMMs offer robust probabilistic classification by modeling data as mixtures of Gaussian distributions. By integrating Bayesian inference with GMMs and utilizing Stan for complex model management, the study enhances classification accuracy. Experimental data from induction motors under various conditions were analyzed, identifying patterns indicative of motor health. The approach, leveraging synthetic data generation, demonstrates effectiveness in proactive maintenance and fault detection, reducing downtime and costs. © 2024 IEEE.

关键词： Global positioning system

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Detection of Electric Motor Damage Through Analysis of Sound Signals Using Bayesian Neural Networks 50

Detection of Electric Motor Damage Through Analysis of Sound...

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50th Annual Conference of the IEEE Industrial Electronics Society, IECON 2024

作者： Bauer, Waldemar Zagórowska, Marta Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Krakow Poland Dept. of Engineering Cybernetics Norwegian University of Science and Technology Trondheim Norway

ISBN: (纸本)9781665464543

Fault monitoring and diagnostics are important to ensure reliability of electric motors. Efficient algorithms for fault detection improve reliability, yet development of cost-effective and reliable classifiers for diagnostics of equipment is challenging, in particular due to unavailability of well-balanced datasets, with signals from properly functioning equipment and those from faulty equipment. Thus, we propose to use a Bayesian neural network to detect and classify faults in electric motors, given its efficacy with imbalanced training data. The performance of the proposed network is demonstrated on real life signals, and a robustness analysis of the proposed solution is provided. © 2024 IEEE.

关键词： Damage detection

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Camera-LiDAR Jaywalking Detection in Traffic Surveillance System

Camera-LiDAR Jaywalking Detection in Traffic Surveillance Sy...

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2025 IEEE/SICE International Symposium on System Integration, SII 2025

作者： Kim, Taek-Lim Jang, Byung Jin Yeon, Joo Yeon Kim, Tae-Hyeong Park, Tae-Hyoung Chungbuk National University Dept. of Robot Control Eng Cheongju Korea Republic of Chungbuk National University Dept. of Intelligent Systems and Robotics Cheongju Korea Republic of Dept. of Research & Development Daegu Korea Republic of

ISBN: (纸本)9798331531614

Roadside sensors like cameras and LiDAR enhance pedestrian safety by providing comprehensive traffic data. While traditional traffic surveillance systems primarily focus on vehicle-related violations, such as signal violations and speeding, pedestrian jaywalking remains a significant cause of accidents. This paper presents a jaywalking detection method that fuses camera-based image segmentation with LiDAR ground segmentation to handle various conditions, including day and night. Our system addresses challenges such as poor lighting and vehicle occlusion by leveraging LiDAR's robustness in unlearned environments. Road segmentation is enhanced by combining camera outputs with LiDAR ground data, refining road boundary detection for more accurate road area analysis. By integrating road segmentation and object tracking, the system reduces false negatives and improves jaywalking detection. Experimental results from real-road data validate its effectiveness, showing significant potential to enhance traffic surveillance. © 2025 IEEE.

关键词： Image segmentation

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Aerogel defect detection using terahertz waves 11

Aerogel defect detection using terahertz waves

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Infrared, Millimeter-Wave, and Terahertz Technologies XI 2024

作者： Maa, Yehao Shen, Liran Cao, Yuqi Hou, Dibo Zhang, Guangxin State Key Laboratory of Industrial Control Technology Dept. of Control Science and Engineering Zhejiang University Hangzhou310027 China Robotics Institute Ningbo University of Technology Ningbo315211 China

ISBN: (数字)9781510682238

ISBN: (纸本)9781510682221

Aerogel is known as super insulation materials and has already been applied to manufacture thermal protection parts of aerospace equipment. Terahertz (THz) wave has good penetration to non-metallic and non-polar materials. To explore its potential in aerogel defect detection, the absorption coefficient and refractive index of aerogel were studied. As a result, the absorption spectrum of aerogel has not obvious absorption peak, and THz wave has great penetration for aerogel. Additionally, two aerogel samples with different sizes of defects were imaged with two time domain parameters (pulse peak and pulse valley) and two frequency domain parameters (absorption coefficient and refractive index). In contrast to other three parameters, the refractive index presents the greatest performance in defect detection, defects in the aerogel can be observed more clearly through the refractive index. The study is of key importance for THz wave in nondestructive testing for aerogel, offering a rapid and non-destructive detection method for aerogel defects. © 2024 SPIE.

关键词： Refractive index

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Multi-Aspect Optimal Sliding Mode controller for a Mecanum Wheeled Robot 11

Multi-Aspect Optimal Sliding Mode Controller for a Mecanum W...

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11th RSI International Conference on robotics and Mechatronics, ICRoM 2023

作者： Allahyari, Sohrab Rahmanei, Hamid Moosavian, S. Ali A. K. N. Toosi University of Technology Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept. of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

Four-wheel drive Mecanum robots have gained attention due to their ability to move in all directions, which allows them to work in tight and complex environments. For this reason, ensuring precise control of these robots along predefined trajectories is crucial. This work presents a comparative study on the effects of parametric uncertainties, external disturbances, measurement noises, and initial deviations on the trajectory-Tracking performance of a 4-wheel drive Mecanum robot. First, the kinematic and kinetic models of the Mecanum robot are introduced. Then, the integral sliding mode control is designed, and proof of stability is provided. In addition, we explore other control strategies, including PID, feedback linearization, sliding mode, and adaptive sliding mode control, that are designed for this robot. Furthermore, the particle swarm optimization algorithm is hired for the controllers with a cost function as the total sum of average error, maximum error, and final error. Optimization has been done on all controllers to compare the results fairly. To appraise the effectiveness of the proposed control optimization methods, simulations are carried out in MATLAB/Simulink. The results reveal that the proposed ISMC method performs best in both defined scenarios compared to other controllers. However, it must be noted that the ISMC controller exhibits limitations when facing significant uncertainties in the dynamic model. This study underscores the effectiveness of our proposed control method and provides valuable insights into the practical implementation controller for the Mecanum robot in real-world applications. © 2023 IEEE.

关键词： Three term control systems

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Design of Output and Impacts control Systems

Design of Output and Impacts Control Systems

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2023 International Russian Automation Conference, RusAutoCon 2023

作者： Gaiduk, Anatoly Prokopenko, Nikolay Chumakov, Vladislav Southern Federal University Scientific Design Office Robotics and Control Systems Taganrog Dept. of Automatic Control Systems Rostov-on-Don Russia Don State Technical University Dept. of Scientific Research Dept. of Information Systems and Radio Engineering Rostov-on-Don Russia

ISBN: (纸本)9798350345551

To design linear control systems a new method is suggested on the basis of the principle of output and impacts control. The main difference of this principle consists in the use of only measurable variables and separate operators for each input signal of the control device. The design problem has a solution if the plant is completely controllable, and at least the controllable variable is measured. The suggested approach makes it possible to eliminate the well-known contradiction between the accuracy and stability of systems with control on deviation, and to provide the required astatism orders or selective invariance to the external actions. At the same time, the conditions of ensuring the direct indicators of the transient quality and the physical implementation of the control device are taken into account. The coefficients of the equation of the output and impacts control device are determined by solving a system of linear algebraic equations. The control device can be implemented on the basis of either operational amplifiers or sufficiently high-speed digital automation tools. The suggested method can be applied for designing high-quality linear control systems for various purposes. © 2023 IEEE.

关键词： Operational amplifiers

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Deep of Recurrent Neural Networks and Bayesian Neural Networks for Detecting Electric Motor Damage Through Sound Signal Analysis

arXiv

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arXiv 2025年

作者： Bauer, Waldemar Baranowski, Jerzy Dept. of Automatic Control & Robotics AGH University of Krakow Poland

Fault detection in electric motors is a critical challenge in various industries, where failures can result in significant operational disruptions. This study investigates the use of Recurrent Neural Networks (RNNs) and Bayesian Neural Networks (BNNs) for diagnosing motor damage using acoustic signal analysis. A novel approach is proposed, leveraging frequency domain representation of sound signals for enhanced diagnostic accuracy. The architectures of both RNNs and BNNs are designed and evaluated on real-world acoustic data collected from household appliances using smartphones. Experimental results demonstrate that BNNs provide superior fault detection performance, particularly for imbalanced datasets, offering more robust and interpretable predictions compared to traditional methods. The findings suggest that BNNs, with their ability to incorporate uncertainty, are well-suited for industrial diagnostic applications. Further analysis and benchmarks are suggested to explore resource efficiency and classification capabilities of these architectures. © 2025, CC BY.

关键词： Recurrent neural networks

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Parameter Adjustments in POMDP-Based Trajectory Planning for Unsignalized Intersections 10

Parameter Adjustments in POMDP-Based Trajectory Planning for...

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10th International Conference on Vehicle Technology and Intelligent Transport Systems, VEHITS 2024

作者： Kollarčík, Adam Hanzálek, Zdeněk Dept. of Control Engineering Faculty of Electrical Engineering Czech Technical University Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic

ISBN: (纸本)9789897587030

This paper investigates the problem of trajectory planning for autonomous vehicles at unsignalized intersections, specifically focusing on scenarios where the vehicle lacks the right of way and yet must cross safely. To address this issue, we have employed a method based on the Partially Observable Markov Decision Processes (POMDPs) framework designed for planning under uncertainty. The method utilizes the Adaptive Belief Tree (ABT) algorithm as an approximate solver for the POMDPs. We outline the POMDP formulation, beginning with discretizing the intersection's topology. Additionally, we present a dynamics model for the prediction of the evolving states of vehicles, such as their position and velocity. Using an observation model, we also describe the connection of those states with the imperfect (noisy) available measurements. Our results confirmed that the method is able to plan collision-free trajectories in a series of simulations utilizing real-world traffic data from aerial footage of two distinct intersections. Furthermore, we studied the impact of parameter adjustments of the ABT algorithm on the method's performance. This provides guidance in determining reasonable parameter settings, which is valuable for future method applications. Copyright © 2024 by SCITEPRESS - Science and Technology Publications, Lda.

关键词： Vehicles

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PDDL optimal planning as the Linear Programming Problem in a seaport container terminal

PDDL optimal planning as the Linear Programming Problem in a...

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

作者： Daniel Wójtowicz Krzysztof Puszyński Adam Gałuszka Dept.: Automatic Control and Robotics Silesian University of Technology Gliwice Poland

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

International Seaports, as in the Shanghai International Container Seaport example, have problem with Planning Seaport Operations and one of the approaches to solve this planning problem is Seaport Operations Planning in the Planning Domain Description Language (PDDL). The problem with the PDDL planning is that it is computational resource intensive. That is why we have introduced transformation from the PDDL planning to linear programming in order to solve it. Linear programming is computational resource light. The plan computed in this way requires binary decision on an action. Therefore the nonbinary decision of linear programming algorithm computation has been interpreted as degrees of truth.

关键词： Integer programming Automation Computational modeling Seaports Containers Linear programming Planning

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