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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2023年第3期85卷 37-48页

作者： Riciu, Ionela Dobrescu, Radu Faculty of Automatic Control and Computers Systems Engineering University of Bucharest Romania Systems Engineering field Faculty of Automatic Control and Computers University of Bucharest Romania

This paper highlights the relationship between the notions of meaning and respectively the semantic notion of qualia as they appear in cybersemiotic models of information transmission. The research work proposes a new way to model the perception of meaning in brain, based on an original cybernetic aproach of the relation between information structures and information messages at the level of brain’s neuronal networks. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Semantics

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A New Task-Space Neural Nonlinear control Approach for Robotic Manipulators under Joint Constraints

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IEEE Access 2025年 13卷 91945-91956页

作者： Nguyet, Nguyen Tran Minh Ba, Dang Xuan Faculty of Electrical and Electronics Engineering Department of Automatic Control Ho Chi Minh City71307 Viet Nam

Robotic manipulators are nonlinear systems with multi-input multi-output (MIMO) structures, uncertainties, and time-varying dynamical prospects. Unexpected influences of internal and external disturbances along with physical constraints in complicated kinematic configurations are large barriers for deriving excellent controllers of the manipulators. In this paper, we propose a novel two-level control approach to drive the end-effector of robotic manipulators following referenced profiles within the hard bounds of joint angles without using inverse kinematics solutions. A new Cartersian-based high-level sub controller is designed for calculating the desired angular velocities from the task-space control objective throughout a constrained-to-free transformation operator. An advanced sliding mode control framework is adopted to construct the low-level control layer to realize the indirect joint-control missions given from the upper one within the physical bounds. To effectively suppress the dynamical internal and external disturbances, a new neural network with a flexible nonlinear learning law is integrated in the joint-space sub controller. Stability of the whole system including both Cartersian and joint spaces is thoroughly proven by a Lyapunov function under a special constraint. The designed controller was verified on a two-link planar robotic arm in various challenging conditions and in comparing with other state-of-the-art control methods. The in-depth simulation results exhibited that the proposed control algorithm possesses outperformance working abilities such as model-free adaptation, robustness, high accuracy and comprehensiveness. © 2013 IEEE.

关键词： Robotic arms

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A NOTE ON THE QUALITATIVE BEHAVIOUR OF AN ODE MODEL RELATED TO ENDOTOXIN TOLERANCE

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2024年第4期86卷 127-130页

作者： Olteanu, Mircea Ştefan, Radu Department of Mathematical Methods and Models Faculty of Applied Sciences University "Politehnica" of Bucharest Romania Department of Automatic Control and Systems Engineering Faculty of Automatic Control and Computer Science University "Politehnica" of Bucharest Romania

关键词： Differential equations

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A MATHEMATICAL MODEL ILLUSTRATING THE INHIBITORY EFFECT OF THE MICRO RNA ON THE PROTEIN PRODUCTION

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UPB Scientific Bulletin, Series A: Applied Mathematics and Physics 2023年第4期85卷 101-106页

The present paper introduces a mathematical model for the cross-talking between microRNA and Protein. Studying the qualitative properties of the proposed model, we infer that the microRNA is an inhibitor for the Prote... 详细信息

关键词： Proteins

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CT SATURATION EFFECTS ON PROTECTION IN TRANSMISSION SUBSTATIONS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2023年第3期85卷 153-166页

作者： Iamandi, Anamaria Arghira, Nicoleta Făgărășan, Ioana Iliescu, Sergiu Stelian Istrate, Roxana-Alexandra Faculty of Automatic Control and Computers University POLITEHNICA of Bucharest Romania Faculty of Energy Engineering University POLITEHNICA of Bucharest Romania

Digital technology facilitates the improvement in reliability of the protection system by introducing IEC 61850 standard along with digital communications. The correct and safe operation of protection equipment strongly depends on the accuracy of measurements received from current transformers (CTs). The accurate scale of secondary current depends on the proper operation of CTs considering its technical characteristics, secondary load and system conditions (short circuit level, system reactance and primary time constant). The aim of this paper is to study the influence of digital equipment along with IEC 61850 process bus on CT saturation. The practical implementation and validation was done on three Romanian transmission substations for three different short circuit network conditions. Best protection and measurement operation is obtained for the digital protection relay as the transformer core saturates later than in the case of the classical electro-mechanical equipment;in 2 of the 3 investigated substations, CT does not even saturate. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Electric substations

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Path Planning for Multi-agent Systems Using Deep Q-Networks Reinforcement Learning 25th

Path Planning for Multi-agent Systems Using Deep Q-Networks...

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25th Annual Conference on Towards Autonomous Robotic Systems, TAROS 2024

作者： Alispahić, Ibrahim Tahirović, Adnan Faculty of Electrical Engineering Department of Automatic Control and Electronics Sarajevo Bosnia and Herzegovina

ISBN: (纸本)9783031720611

This work presents a comprehensive study of the application of multi-agent reinforcement learning (MARL) based on deep Q-networks (DQN), aiming to enhance the cooperation and coordination of multiple agents in complex environments. The core problem addressed is the multi-agent traveling salesman problem, i.e. the effective collaboration and target-reaching by multiple agents. This challenge is inherently present in a variety of applications, including inspection and maintenance tasks based on autonomous aerial robotic systems. The research delves into the intricacies of multi-agent systems, emphasizing the dynamic interaction between agents and the environment. Although the proposed algorithm is developed and trained in a planar space, its principles and methodologies are easily extendable to any operational environment. The proposed approach is capable of training on a number of different scenarios, using various numbers of agents and targets, regardless of their initial positions, making it highly adaptable to scenarios like aerial inspections, where the number of agents, the number of inspection sites and their locations are unknown a priori. Furthermore, the work outlines how the enhanced DQN algorithm can be tailored for scenarios with numerous autonomous agents and targets, ensuring efficient path planning and target acquisition in constrained and unstructured spaces. This work also provides a solid foundation for future research in integrating advanced reinforcement learning techniques into the design and operational strategies for solving tasks, which can be described by the multi-agent traveling salesman problem, including inspection and maintenance with an autonomous multi-agent system. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Traveling salesman problem

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VOICE METRICS FOR DISCOURSE QUALITY ANALYSIS

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2023年第3期85卷 3-12页

作者： Jinga, Nicolae Moldoveanu, Florica Moldoveanu, Alin Morar, Anca Mocanu, Irina Butean, Alexandru Faculty of Automatic Control and Computer Science University POLITEHNICA of Bucharest Romania Faculty Engineering "Lucian Blaga" University of Sibiu Romania

In this paper, we introduce new discourse quality metrics and an evaluation method, and furthermore, we provide a pilot implementation and evaluate it in a specific use case – that of public speaking. Voice analysis and discourse quality metrics are important topics as they can solve various problems of modern-day life. In public speaking trainings, it is important to be able to analyze voice and discourse, to offer the speaker valuable feedback and information on how to improve when speaking in public. We identified several papers that study this issue, in which rhythm, tone, fluency and clarity, as well as biological signals, are analyzed, to detect emotions or anxiety. We defined a set of voice quality metrics that can be implemented based on any speech recognition system. Our pilot implementation showcases the difference of using various Speech-to-Text (STT) APIs over the proposed metrics and how these affect the discourse evaluation process. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Speech recognition

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ARCHITECT: EXTRACTING BUILDING RELATED INFORMATIONS AND CHANGING ARCHITECTURAL STYLE IN AR

UPB Scientific Bulletin, Series C: Electrical Engineering an...

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UPB Scientific Bulletin, Series C: Electrical engineering and Computer Science 2023年第3期85卷 65-76页

作者： Vlăsceanu, Giorgiana Violeta Drăguț, Alin Sandu, Gabriel Tarbă, Nicolae Voncilă, Mihai-Lucian Boiangiu, Costin-Anton Goga, Nicolae Faculty of Automatic Control and Computers University "Politehnica" of Bucharest Romania Faculty of Engineering in Foreign Languages University "Politehnica" of Bucharest Romania

With recent advancements in mobile computing, augmented reality (AR) applications can now achieve real-time performance. AR provides a novel way to engage with our surroundings. Platforms such as ARKit or ARCore make AR app development easy. ARchitect aims to allow users to experience different architectural styles and cultural heritages by altering the appearance of buildings in their environment. The presented solution utilizes deep learning and computer vision techniques to classify architectural styles, which is a challenging task due to the inter-class relationships between styles. The approach presented in the paper alters the style of a building detected from the phone’s camera and retrieves information such as its current style, age, and distance from the user. To train the deep learning models, a publicly available dataset of photos of buildings with 25 different styles is used. The obtained results for architectural style classification surpass state-of-the-art methods, demonstrating the effectiveness of deep learning techniques. Additionally, the presented approach for architectural style transformation is also promising and will improve as new research is conducted in image generation, monocular depth estimation, and surface reconstruction methods. © 2023, Politechnica University of Bucharest. All rights reserved.

关键词： Augmented reality

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Trajectory Following in Differential Drive Mobile Platform 11

Trajectory Following in Differential Drive Mobile Platform

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11th International Conference on Electrical, Electronic and Computing engineering, IcETRAN 2024

作者： Jovanović, Andela Sibinović, Vladimir Mitić, Vladimir Veselić, Boban University of Niš Faculty of Electronic Engineering Department of Automatic Control Niš Serbia

ISBN: (纸本)9798350386998

This paper considers a trajectory tracking problem in motion control of a mobile platform. The platform is designed to have differential drive, Arduino microcontroller, Bluetooth connectivity and is battery powered, thus representing a complete mechatronic system. The task at this stage was to provide the platform motion along simple desired trajectories, such as straight lines and curves. During its motion, the platform draws its trajectory on the surface, upon which motion accuracy can be evaluated. Odometry approach is used in solving this task where each wheel motor is driven within a cascaded control structure with conventional digital controllers. Experimental results of several tests are presented and analyzed. © 2024 IEEE.

关键词： Trajectories

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An Evaluation of the Dual Vectors Based Solutions for Robot-World/Hand-Eye Calibration 1

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25th International Symposium on Measurement and control in Robotics, ISMCR 2023

作者： Ganciu, Aura Burlacu, Adrian Department of Automatic Control and Applied Informatics Faculty of Automatic Control and Computer Engineering "Gheorghe Asachi" Technical University of Iași Iași Romania

ISBN: (数字)9783031510854

ISBN: (纸本)9783031510847

The hand-eye calibration problem represents a major challenge in robotics, arising from the widespread usage of robotic systems along with robot-mounted sensors. Briefly, consisting of estimating the position and orientation of a visual sensor (usually a camera attached to the robot’s end-effector) with respect to the robot itself, calibration is critical in tracking rigid bodies—a common task within mixed reality applications. Hand-eye calibration implies solving the problem formulated as AX = XB or AX = YB equations. The solution lies in computing the unknown homogeneous transformation matrices X and Y, given the A and B parameterizations of rigid body motions. We present the dual vectors based approaches for AX = XB and AX = YB calibration problems, making use of the isomorphism between the special Euclidean group and the orthogonal dual tensor group. Comparisons with state-of-the-art algorithms are used to assess our obtained results. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2024.

关键词： Mixed reality

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