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

作者： Bartłomiej Gawęda Waldemar Bauer Jerzy Baranowski Dept. of Automatic Control and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350363654

ISBN: (纸本)9798350363661

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.

关键词： Industrial electronics Data analysis Electronic learning Education Containers Programming Probabilistic logic Software Bayes methods Field programmable gate arrays

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Mixture Based Classifier Using Gaussian Processes for Induction Motor Diagnosis

Mixture Based Classifier Using Gaussian Processes for Induct...

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Annual Conference of Industrial Electronics Society

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

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

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.

关键词： Induction motors Uncertainty Systematics Mixture models Predictive models Probabilistic logic Data models Maintenance Noise measurement Synthetic data

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Design and control of Omnidirectional Conveyor Model Using Image Processing 9

Design and Control of Omnidirectional Conveyor Model Using I...

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9th Somaiya International Conference on Technology and Information Management, SICTIM 2023

作者： Bangal, Rohit Nalawade, Satyajeet Dusane, Chaitalee Design and Development Tantradnyan Engineers Ahmednagar India Electronics Design Robotics Research Lab Pune India Dept. of Instrumentation and Control Govt College of Engg. and Research Pune India

ISBN: (纸本)9798350333299

Many industries have begun to adhere to the regulations of the fourth industrial revolution, whereby their production rates are anticipated to rise sharply. A smart and efficient conveyor system is necessary to handle this surge in production rate. Smart conveyor systems can maintain track of individual goods while monitoring multiple aspects including the speed and direction of objects. This paper's goal is to design and control a smart conveyor system called an'Omnidirectional Conveyor' using visual feedback via OpenCV-based image processing. The unique configuration of the wheels and the specially developed algorithm felicitates the transfer, orientation, and position of various objects separately from one another, enabling holonomic motion along any path. © 2023 IEEE.

关键词： Visual communication

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Modeling of thermal processes in microcontroller system by fractional order, discrete, hybrid transfer function using CFE approximation

Modeling of thermal processes in microcontroller system by f...

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

作者： Krzysztof Oprzedkiewicz Maciej Rosol Wojciech Mitkowski Dept. of Aut. Control and Robotics AGH University Krakow Poland

In the paper the problem of modeling of thermal processes in microcontroller system is addressed. The proposed model describes temperature of critical elements in the working development board of STM32 family. The temperature is measured using the industrial thermal camera. The proposed model is the discrete, hybrid transfer function, containing both Integer Order (IO) and Fractional Order (FO) parts. The FO part is described using Continuous Fraction Expansion (CFE) approximation. The step responses of the proposed transfer function are computed numerically using MATLAB. Results of experiments confirm the good accuracy of the proposed model in the sense of Mean Square Error (MSE) cost function. Such a model of thermal processes in a microcontroller system has not be presented yet. It can be employed to predict of overheating of microcontroller systems or other integrated circuits.

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

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

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Annual Conference of Industrial Electronics Society

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

ISBN: (数字)9781665464543

ISBN: (纸本)9781665464550

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.

关键词： Accuracy Fault detection Neural networks Training data Robustness Bayes methods Wind turbines Signal representation Time-domain analysis Electric motors

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

arXiv

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arXiv 2024年

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

关键词： Electric motors

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Adaptive control Using a Quaternion Wavelet Neural Network

Adaptive Control Using a Quaternion Wavelet Neural Network

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International Workshop on Robot Motion and control (RoMoCo)

作者： Gerardo Martínez-Terán Eduardo Bayro-Corrochano Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico Institute of Automatic Control and Robotics Poznan University of Technology

ISBN: (数字)9798350393965

ISBN: (纸本)9798350393972

robotics and haptic systems have allowed new and diverse applications in the field of medicine, such as assisted surgery and teleoperation which have increasingly stringent requirements for accuracy, convergence, and low computational consumption. In this paper an adaptive PID control law (Proportional Integral Derivative controller, PID), of indirect architecture is presented for movement paths in a haptic system of open chain, where the identification of the plant is through a quaternionic wavelet neural network (Quaternion Wavelet Neural Network, QWNN) for tune the PID values, this allows the optimal movement into the regions of the workspace.

关键词： Uncertainty Quaternions Neural networks Surgery Robustness Haptic interfaces Topology

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Newton-Euler Modeling of Robot Dynamics Using Geometric Algebra

Newton-Euler Modeling of Robot Dynamics Using Geometric Alge...

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

作者： Eduardo Bayro-Corrochano Daniel Alvarado-Mejia Institute of Automatic Control and Robotics Poznan University of Technology Dept. Electrical Engineering and Computer Science CINVESTAV Guadalajara Mexico

ISBN: (数字)9798350362343

ISBN: (纸本)9798350362350

In this work, we present the modeling of the dynamics of a robot manipulator using the Newton-Euler algorithm in the conformal algebra framework. The modeling of the dynamics of robot manipulators is currently done using the Euler-Lagrange formulation which is a batch type of computation. In contrast, in this paper, we propose a recursive algorithm for the modeling of the dynamics of robot manipulators using the Newton-Euler algorithm in the conformal geometric algebra framework.

关键词： Algebra Heuristic algorithms Computational modeling Optimal control Motors Real-time systems Mathematical models

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Kinematic control of a Mecanum Mobile Robot using Time-Varying Model Predictive control

Kinematic Control of a Mecanum Mobile Robot using Time-Varyi...

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RSI/ISM International Conference on robotics and Mechatronics (ICROM)

作者： Seyed Ali Shahzadeh Fazeli Sohrab Allahyari Arman Gholibeikian S. Ali A. Moosavian Dept. of Mechanical Engineering Advanced Robotics & Automated Systems (ARAS) Laboratory Center of Excellence in Robotics & Control K. N. Toosi University of Technology Tehran Iran

ISBN: (数字)9798331529734

ISBN: (纸本)9798331529741

Mecanum wheeled mobile robots have increasingly caught researchers' attention due to their wide range of applications and higher maneuverability. However, their complex structure makes their trajectory tracking and control problem more challenging. This paper presents a cascaded controller for trajectory tracking of a four-wheel Mecanum mobile robot. The cascaded controller consists of a linear time-varying model predictive controller (LTV-MPC) and an inner PID controller. The proposed controller does not require the system's dynamics model. To this end, the linear time-varying error model used to design the MPC is obtained from the robot's kinematics model. The angular velocities obtained from the predictive controller are then mapped into the required commands for the DC motors using a PID controller. The PID controller is fine-tuned considering the motor's dead zone using the Genetic Algorithm. Simulations and experimental results demonstrate the superiority of the cascaded controller over the regular LTV-MPC. The proposed algorithm can also be used for other real-time implementations of robotic tasks.

关键词： Trajectory tracking System dynamics Robot kinematics Predictive models DC motors Angular velocity Real-time systems Mobile robots Voltage control Genetic algorithms

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A Passive Mechanical Add-on for Treadmill Exercise (P-MATE) in Stroke Rehabilitation

arXiv

引用

arXiv 2025年

作者： Beck, Irene L.Y. Hopmans, Belle C. Haanen, Bram Kieft, Levi Vallery, Heike Marchal-Crespo, Laura Poggensee, Katherine L. Dept. of Cognitive Robotics TU Delft Delft Netherlands Dept. of Rehabilitation Medicine Erasmus MC Rotterdam Netherlands Dept. of Biomechanical Engineering TU Delft Delft Netherlands Institute of Automatic Control RWTH Aachen University Aachen Germany

Robotic rehabilitation can deliver high-dose gait therapy and improve motor function after a stroke. However, for many devices, high costs and lengthy setup times limit clinical adoption. Thus, we designed, built, and evaluated the Passive Mechanical Add-on for Treadmill Exercise (P-MATE), a low-cost passive end-effector add-on for treadmills that couples the movement of the paretic and non-paretic legs via a reciprocating system of elastic cables and pulleys. Two human-device mechanical interfaces were designed to attach the elastic cables to the user. The P-MATE and two interface prototypes were tested with a physical therapist and eight unimpaired participants. Biomechanical data, including kinematics and interaction forces, were collected alongside standardized questionnaires to assess usability and user experience. Both interfaces were quick and easy to attach, though user experience differed, highlighting the need for personalization. We also identified areas for future improvement, including pretension adjustments, tendon derailing prevention, and understanding long-term impacts on user gait. Our preliminary findings underline the potential of the P-MATE to provide effective, accessible, and sustainable stroke gait rehabilitation. © 2025, CC BY-NC-ND.

关键词： End effectors

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