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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

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： Energy management systems

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Fast Prototyping of In-Pavement Airport Navigation Lamp Prism Classification 26

Fast Prototyping of In-Pavement Airport Navigation Lamp Pris...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Suder, Jakub Marciniak, Tomasz Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents an analysis of fast selection of neural network for the purpose of visual analysis of mechanical wear on prism lenses of in-pavement airport navigational lighting systems. This issue is particularly important in terms of aviation safety and navigational lighting control, regulated by EASA and ICAO. The article is the next stage of the development of the system for the vision control of lamps, in which the concept of using a different neural network with an increased data set prepared by the authors is presented. The Deep Network Designer tool included in the Matlab 2022b environment was used. The solution using the GoogLeNet neural network allows for the classification of lamps with an accuracy of 88.37%. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Airports

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Influence of power supply on airport navigation lamps photometric test accuracy 26

Influence of power supply on airport navigation lamps photom...

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26th IEEE Signal Processing: Algorithms, Architectures, Arrangements, and Applications, SPA 2023

作者： Podbucki, Kacper Suder, Jakub Marciniak, Tomasz Darowski, Adam Poznan University of Technology Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Poznań60-965 Poland

ISBN: (纸本)9798350304985

The paper presents research on the accuracy of measuring illuminance and chromaticity of airport lamps. The impact of the type of DC and AC power supply on measurement was assessed with the use of electronic sensors. BH1750 and BH1745 type sensors in a microprocessor system with an I2C interface were used for the measurements. A professional luxmeter was used for comparison purposes. Experimental tests were carried out under laboratory conditions for three types of halogen lamps: approach system lamps, runway centerline lamps, and touchdown zone lamps. © 2023 Division of Signal Processing and Electronic systems, Poznan University of Technology (DSPES PUT).

关键词： Lighting

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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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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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Magnetic Flux Servoing for Precise Localization Based on Gradient Tensor Contractions 19

Magnetic Flux Servoing for Precise Localization Based on Gra...

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19th IEEE International Conference on Automation Science and Engineering, CASE 2023

作者： Martinovic, Dean Orsag, Matko University of Zagreb Faculty of Electrical Engineering and Computing Laboratory for Robotics and Intelligent Control Systems Zagreb10000 Croatia

ISBN: (纸本)9798350320695

This paper focuses on bridge inspections performed by intelligent unmanned aerial vehicles (UAV). For this, small data loggers are placed by the UAVs at the bridge, which have to be removed later. In our previous work we presented the magnetic localization method SRIOD, which not only detects the center of the data logger but also its orientation. In this work we proof SRIOD in a real application and let a robotic arm locate a magnetic target. The hardware involved is presented including the control strategy for the robot. The motions of the robot and the magnetic target are captured with 12 Optitrack cameras in order to validate the localization quality. © 2023 IEEE.

关键词： Antennas

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Detecting and Classifying Surface Defects in Rolled Steel Sheets Using Deep Learning Techniques 9

Detecting and Classifying Surface Defects in Rolled Steel Sh...

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9th International Conference on control, Decision and Information Technologies, CoDIT 2023

作者： Evstafev, Oleg Shavetov, Sergei Pyrkin, Anton Itmo University Faculty of Control Systems and Robotics Kronverksky av. 49 Saint Petersburg197101 Russia

ISBN: (纸本)9798350311402

The paper focuses on using Deep Learning (DL) and Computer Vision (CV) techniques to detect surface defects in rolled metal products. By utilizing a Convolutional Neural Network (CNN), various surface defects can be detected and recognized, ultimately improving production standards and certification of the metal products. Two types of lighting, diffuse and side, are used to improve defect detection, and image preprocessing methods are employed to enhance the quality of the input data. The purpose of this work is to develop a method for recognizing and classifying defects in metal surfaces from their images in real time. © 2023 IEEE.

关键词： Surface defects

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Robust Finite-Time Stabilization of Linear Descriptor systems 32

Robust Finite-Time Stabilization of Linear Descriptor System...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Konovalov, Dmitry Kremlev, Artem Zimenko, Konstantin Dobriborsci, Dmitrii ITMO University Faculty of Control Systems and Robotics Russia Deggendorf Institute of Technology Technology Campus Cham Germany

ISBN: (纸本)9798350395440

The paper is devoted to the problem of robust finite-time control design for linear descriptor systems. The proposed homogeneity based control does not require system transformation to a canonical form and guarantee finite-time convergence in the presence of additive disturbances. The parameters tuning is based on the solution of linear matrix equations and inequalities. © 2024 IEEE.

关键词： Linear matrix inequalities

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A Spectral Mask - Based on Method for Applying into Generalized Sidelobe Canceller Beamformer 12th

A Spectral Mask - Based on Method for Applying into Gener...

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Proceedings of the12th International Conference on Information Technology and its Applications, CITA 2023

作者： Huy, Nguyen Ba Anh, Pham Tuan The, Quan Trong Faculty of Control Systems and Robotics University ITMO St.Petersburg Russia Faculty of Software Engineering and Computer Systems University ITMO St.Petersburg Russia

ISBN: (纸本)9783031368851

The problem of signal processing is extracting the desired target speaker while suppressing the annoying background noise in complex recording situation, where exists third-party talker, transport vehicle or interference, noise. Speech quality or speech intelligibility are the major characteristics, which confirm the effectiveness of processed method. In speech applications, such as hearing-aids, hands-free telephony, teleconferencing, acoustic instruments, microphone array (MA) is applied for increasing the speech quality. MA uses the spatial response, the priori information about direction - of - arrival (DOA) of interest signal, the properties of recording environment to obtain speech components and remove noise. Generalized Sidelobe Canceller (GSC) is one of the most widely exploited in microphone array beamforming, due to its convenience and effective noise reduction. However, in several situations, the performance of GSC beamformer is often degraded, because of the imprecise DOA. In this paper, the authors suggested an additive spectral mask for improving the evaluation of GSC beamformer. The resulting experiment proves the received advantage of the author’s proposed algorithm to increase in the term of the signal-to-noise ratio (SNR). © 2023, The Author(s), under exclusive license to Springer Nature Switzerland AG.

关键词： Signal to noise ratio

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control Aspects in Programming by Demonstation for Robotic Deep- Micro- Hole Drilling 32

Control Aspects in Programming by Demonstation for Robotic D...

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32nd Mediterranean Conference on control and Automation, MED 2024

作者： Maric, Bruno Petric, Frano Orsag, Matko University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (纸本)9798350395440

This paper explores control aspects in a collab-orative robotic system designed to replicate human operators' drilling skills in deep- micro- hole tasks, focusing on the glass-container mould industry. To replicate human performance, we develop a single-DOF Impedance-based drill controller for a standard industrial position-controlled robot, enhancing safe and smooth interactions between the drill bit and the mould. To address high feed rates observed in worker demonstrations and prevent bit breaks, we focus on minimizing non-axial motion during drilling on an off-the-shelf available industrial manipulator KUKA KR 10. This involves analyzing the impact of joint dynamics on drill motion and designing a control system for the robot's low-level control to achieve axial drill motion. We show that the proposed joint control system that takes into account relationship between joint and tool dynamics outperforms available robot low-level control in minimizing non-axial motion, leading to the robot being able to outperform the human in deep- micro- hole drilling. © 2024 IEEE.

关键词： Molds

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