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Trust Consensus Protocol for Heterogeneous Underwater Robotic Systems

IFAC-PapersOnLine 2016年第23期49卷 341-346页

作者： Mazdin, Petra Arbanas, Barbara Haus, Tomislav Bogdan, Stjepan Petrovic, Tamara Miskovic, Nikola University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Underwater Systems and Technologies Croatia

In this paper we analyze the application of a binary trust-consensus protocol in multi-agent systems with switching communication topology. Trust represents belief of one agent that the other one is capable of executing a specific task. The approach is motivated by an underwater robot system in which robots, called aMussels, are dispersed in the environment and measure environmental properties (for example sea-current) over a longer period of time, with sensors which are prone to failures. The goal is to apply the binary trust-consensus protocol to enable the system to autonomously detect failures of aMussels. Since direct communication between aMussels is energy consuming, a new type of moving robot, called aFish, is introduced that serves as a carrier of information. Since aFish have a limited communication range, communication topology is switching. Simulations are run first in Matlab for a homogeneous system, and then in a realistic simulation environment for the described scenario with heterogeneous agents. Results show that the protocol converges to the correct trust values and that the convergence time depends on the connectivity of the communication graph. © 2016

关键词： Multi agent systems MATLAB Robots Topology Communication graphs Communication topologies Direct communications Environmental property Heterogeneous multi agent systems Limited communication range Switching topology trust consensus

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Selected Problems of Reverse Logistics in the Multiple Processing of Polymer Recyclates

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Transportation Research Procedia 2025年 87卷 50-59页

作者： Jachowicz Tomasz Woźniak Waldemar Sąsiadek Michał Niedziela Maciej Jajczyk Jarosław Naumowicz Magdalena Lublin University of Technology Faculty of Mechanical Engineering 38 Nadbystrzycka Str. 20-618 Lublin Poland University of Zielona Góra； Institute of Materials and Biomedical Engineering 4 Prof. Z. Szafran Str. 65-516 Zielona Góra Poland University of Zielona Góra Institute of Mechanical Engineering 4 Prof. Z. Szafran Str. 65-516 Zielona Góra Poland University of Zielona Góra Institute of Mathematics 4 Prof. Z. Szafran Str. 65-516 Zielona Góra Poland Poznań University of Technology Faculty of Control Robotics and Electrical Engineering 3A Piotrowo Str. 60-965 Poznań Poland Polipak Ltd. R&D 7 Fabryczna Str. 63-000 Środa Wielkopolska Poland

The article presents a solution introduced in an industrial enterprise to recover low-density polyethylene from production waste and reintroduce it as a secondary raw material into a separate production cycle, thus obtaining a closed cycle: primary plastic – production – waste – secondary plastic – production. The production assortment consisted of bags, with primary raw material being used to make bags for contact with food (e.g. for freezing), while secondary raw material was used to make garbage bags. The applied technology of extrusion with free blowing, enabled the production of multi-layer film in which primary raw material, secondary raw material obtained from own production waste and secondary raw material from external suppliers, were used. The mutual proportions of raw materials allowed the production of three-layer film with a wide range of performance properties, with a significant group of products constituting a film containing at least 55% of waste polyethylene. The conducted experimental tests were carried out under industrial conditions. The tubular film made from three-layer polyethylene were subjected to testing based on several dozen formulations defining the raw material composition, which relates to the total content of polyethylene regranulate. The results of the studies on selected properties of the secondary raw material and the selected mechanical properties of the three-layer film, which was subsequently used to produce garbage bags in the next stage of the production process, are presented. Based on the results obtained, the effectiveness of the qualification system adopted for polyethylene regranulates was assessed in relation to the formulation scheme developed, ensuring efficient production of three-layer film with appropriate user properties, regardless of random changes in the properties of secondary raw materials recovered internally or sourced externally.

关键词： Free-blowing extrusion multi-layer film polyethylene polyethylene regranulate

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

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IFAC-PapersOnLine 2017年第1期50卷 5914-5919页

作者： Arbanas B. Boljuncic S. Petrovic T. Bogdan S. University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

In this paper we describe a decentralized protocol that is applied for scheduling and management of energy sharing in heterogeneous systems. Particular system we have in mind comprises of agents with different mobility, energy harvesting and energy sharing capabilities herein called aPads, aFish and aMussels. aPads are surface vehicles that harvest energy and are able to transmit it to both aFishes and aMussels. aFish are underwater vehicles that can transmit energy to aMussels or to other aFish, and receive energy from aPads. aMussels, that can either be attached to the sea-ground or float on the surface, can only receive energy, either from aFish or aPads. For such a system to be able to function for an extended period of time, a decentralized energy management protocol should be designed, whose purpose is to schedule and coordinate charging of agents over time. These decisions depend on the current battery levels of different agents, as well as their positions, and should be done in a decentralized manner. In this paper we apply an energy sharing protocol based on TÆMS framework, originally applied to planning and coordination in aerial-ground robotics systems for search and rescue missions. We refine the obtained plans using the coalition-based metaheuristic for vehicle routing problems. We show execution schedules achieved using the proposed protocol and highlight its advantages and flaws when applied to our underwater scenario. © 2017

关键词： decentralized systems distributed artificial intelligence Hierarchical decision making scheduling algorithms

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Compliant net for AUV retrieval using a UAV

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IFAC-PapersOnLine 2018年第29期51卷 431-437页

作者： Ivanovic, Antun Polic, Marsela Salah, Omar Orsag, Matko Bogdan, Stjepan Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing University of Zagreb Unska 3 Zagreb10 000 Croatia Mechanical Engineering Department Faculty of Engineering Assiut University Assiut Egypt

This paper addresses the problem of retrieving an autonomous underwater vehicle (AUV) with an unmanned aerial vehicle (UAV). The design of the compliant net that naturally adapts to the payload morphology is proposed as a retrieval tool. We constructed the proposed compliant net and conducted experiments with an underwater vehicle model as payload. Furthermore, mathematical model of a system comprised of the UAV and the payload is presented and a mid-ranging controller is utilized for such a system. We also present simulation results and analyze the stability of the UAV with the cable attached payload. © 2018

关键词： Autonomous underwater vehicles Antennas Unmanned aerial vehicles (UAV) Autonomous underwater vehicles (AUV) Marine systems Mechanical design Retrieval tool Soft robotics Underwater vehicles

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Decentralized Energy Sharing Protocol using TÆMS Framework and Coalition-based Metaheuristic for Heterogeneous Robotic Systems

Decentralized Energy Sharing Protocol using TÆMS Framework ...

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作者： Arbanas, Barbara Boljuncic, Sara Petrovic, Tamara Bogdan, Stjepan University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Croatia

关键词： Energy management systems

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Critical aspects of the uncertainty budget in the shielding effectiveness measurements

Critical aspects of the uncertainty budget in the shielding ...

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2023 International Symposium on Electromagnetic Compatibility - EMC Europe, EMC Europe 2023

作者： Malecka, Karolina Olczyk, Robert Sroka, Jan Urbaniak, Grzegorz Warsaw University of Technology Faculty of Electrical Engineering Warsaw Poland Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Poznań Poland

ISBN: (纸本)9798350324006

This article deals with the issue of identification and quantification of uncertainty components in shielding effectiveness measurements carried out in accordance with the standard EN 50147-1. It describes problems accompanying such tasks and presents baseline uncertainty budget. Issues related to uncertainty of the antenna factor, uncertainty of measurement receiver and mismatch of the measurement path were taken into consideration. Further topics requiring consideration have also been identified, such as the type A evaluation of uncertainty, variations of the reflection coefficient at the input of antenna and uncertainties of measurements of S-parameters used to calculate mismatch of the measurement path. © 2023 IEEE.

关键词： Scattering parameters

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The effects of parameter variation in open-loop and closed-loop control scheme for an electro-hydraulic actuator system

International Journal of Control and Automation

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International Journal of control and Automation 2016年第11期9卷 283-294页

作者： Soon, C.C. Ghazali, R. Jaafar, H.I. Hussien, S.Y.S. Sam, Y.M. Rahmat, M.F. Centre for Robotics and Industrial Automation Faculty of Electrical Engineering Universiti Teknikal Malaysia Melaka Durian Tunggal Hang Tuah Jaya Melaka76100 Malaysia Department of Control and Mechatronics Engineering Faculty of Electrical Engineering Universiti Teknologi Malaysia Skudai Johor81310 Malaysia

It is well known that the electro-hydraulic actuator (EHA) system is exposed to the disturbances, uncertainties, and parameter variations which are caused by the changes in operating conditions for instance, total moving mass, supply pressure, servo-valve gain, bulk modulus, leakage coefficient, and friction. These problems pose to a great challenge in modelling and controller development for an EHA system. Degradation of the desired performance can be imposed if an improper control strategy is utilized. This paper discusses the fundamental study on the significant effect that leads to degradation of EHA system performance due to variation in the system parameters. A nonlinear EHA system model is developed and implemented in the simulation studies in open-loop and closed-loop control configuration. The finding shows that the servo-valve gain resulted the most influential parameters to the EHA system performance as compared to the total moving mass and supply pressure parameters. In order to overcome these issues, the utilized controller should be robust enough to overcome the entire operating range that against such disturbances, uncertainties, and parameter variations. Therefore, a nonlinear and the intelligent control approach may be necessary to be designed in order to overcome these difficulties. © 2016 SERSC.

关键词： Closed loop control systems

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Autonomous docking and energy sharing between two types of robotic agents

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IFAC-PapersOnLine 2018年第29期51卷 406-411页

作者： Babi, Anja Mandi, Filip Vasiljevi, Goran Mikovi, Nikola Faculty of Electrical Engineering and Computing LABUST Laboratory for Underwater Systems and Technologies University of Zagreb Unska 3 Zagreb Croatia Faculty of Electrical Engineering and Computing LARICS Laboratory for Robotics and Intelligent Control Systems University of Zagreb Unska 3 Zagreb Croatia

In order to achieve long-term autonomy after deployment, a method of energy sharing within a heterogeneous swarm of marine robots was devised and implemented. This paper describes hardware and software solutions as well as guidance and control algorithms developed with the goal of allowing powerful energy-rich overactuated surface platforms to approach, dock, and wirelessly recharge less mobile sensor-rich agents upon request using visual servoing. The basic image processing algorithm uses data acquired by the Microsoft Kinect sensor alternating between RGB and infra-red camera modes, depending on lighting conditions. The full search and docking procedure developed for long-term operation is described. The results of a series of experiments done both in an indoor testbed and in realistic outdoor conditions are discussed and some goals for future work are given. © 2018

关键词： Autonomous agents

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Exploiting the Intrinsic Neighborhood Semantic Structure for Domain Adaptation in EEG-based Emotion Recognition

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IEEE Transactions on Affective Computing 2025年

作者： Yang, Yi Wang, Ze Song, Yu Jia, Ziyu Wang, Boyu Jung, Tzyy-Ping Wan, Feng Macau University of Science and Technology Macao Centre for Mathematical Sciences Respiratory Disease AI Laboratory on Epidemic Intelligence and Medical Big Data Instrument Applications Faculty of Innovation Engineering 999078 China Tianjin University of Technology School of Electrical Engineering and Automation Tianjin Key Laboratory of New Energy Power Conversion Transmission and Intelligent Control Tianjin300384 China Chinese Academy of Sciences Beijing Key Laboratory of Brainnetome and Brain-Computer Interface and Brainnetome Center Institute of Automation Beijing100045 China Western University Department of Computer Science Brain Mind Institute LondonONN6A 3K7 Canada University of California at San Diego Swartz Center for Computational Neuroscience Institute for Neural Computation La Jolla CA92093 United States University of Macau Department of Electrical and Computer Engineering Faculty of Science and Technology China University of Macau Centre for Cognitive and Brain Sciences Centre for Artificial Intelligence and Robotics Institute of Collaborative Innovation 999078 China

Due to the inherent non-stationarity and individual differences present in electroencephalogram (EEG) signals, developing a generalizable model that performs well on new subjects is challenging in EEG-based emotion recognition. Most existing domain adaptation (DA) methods typically mitigate these discrepancies by aligning the marginal distributions of domain feature representations. However, when there is a significant difference in the class-conditional distribution between domain features and labels, the domain-invariant features learned by aligning marginal distributions may have limited discriminative ability for unlabeled target instances or even prove counterproductive. To address this issue, we propose a Neighborhood Semantic Aware Learning-based Dynamic Graph Attention Convolution (NSAL-DGAT) approach that learns target semantic information by considering the inter-domain semantic topological structure, thereby improving classifier adaptation for target instances. Specifically, the proposed NSAL framework is designed to capitalize on the insight that after domain feature alignment, some target samples and their neighboring source samples exhibit similar semantics. By leveraging the neighborhood topological structure, we extract and incorporate semantic target features to train a more transferable classifier. Besides, we implement an entropy weighting mechanism to emphasize representative target semantic information, encouraging target instances to prioritize high-confidence individuals within the source neighborhood. We have conducted extensive experiments on the public SEED dataset and our collected the Hearing-Impaired EEG Dataset (HIED). The experimental results underscore the efficacy of our proposed NSAL-DGAT approach, showcasing state-of-the-art accuracy in subject-dependent as well as subject-independent scenarios. The source code is available at https://***/YYingDL/NSAL-DGAT. © 2010-2012 IEEE.

关键词： Speech analysis

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Real-Time UAV Fault Detection and Classification Using Measurement Data from the PADRE Database

Real-Time UAV Fault Detection and Classification Using Measu...

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2024 IEEE/SICE International Symposium on System Integration, SII 2024

作者： Puchalski, Radoslaw Giernacki, Wojciech Ha, Quang Institute of Robotics and Machine Intelligence University of Technology Faculty of Control Robotics and Electrical Engineering of Poznan Poznan Poland School of Electrical and Data Engineering University of Technology Sydney Faculty of Engineering and Information Technology UltimoNSW2007 Australia

ISBN: (纸本)9798350312072

The growing number of applications for unmanned aerial vehicles operating in close proximity to humans calls for strict safety requirements. To ensure reliability and safety, fast and effective diagnosis of possible drone faults is needed. In this paper, a study on the detection of damage to the propellers of a multirotor using inertial sensors was conducted. Measurement data from the publicly available PADRE repository were used. Frequency features and raw measurement data applicability were tested. Two different approaches to data processing during fault detection and classification were tested. The first is to analyze the signals after collecting the entire set of data needed for treatment by the neural network. The second approach processes the data after every single acquisition of sensor measurements. The performance results and processing time of each solution are recorded for analysis. By effectively selecting parameters of the proposed approaches, the processing time and accuracy of UAV fault classification can be significantly improved, as verified over different classes of propeller defects. Early fault detection is essential for safe operations of multirotor drones. © 2024 IEEE.

关键词： Drones

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