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5th IEEE International Conference on Smart systems and Technologies, SST 2022

作者： Vuletić, Jelena Polić, Marsela Orsag, Matko University of Zagreb Faculty of EE&C Zagreb Croatia University of Zagreb LARICS Laboratory for Robotics and Intelligent Control Systems Faculty of Electrical Engineering and Computing Zagreb10000 Croatia

ISBN: (数字)9781665482158

ISBN: (纸本)9781665482158

In this paper, a deep learning based object detection model is developed for robotic applications in structured agricultural cultivation of sweet peppers (Capsicum annuum). We propose a realistic simulation based method for procedural generation of a labeled sweet pepper dataset. Realistic 3D models of fruit, leaves, and other relevant plant body parts are generated through photogrammetry, enabling generation of a large and relevant dataset. The dataset is labeled for both object detection and semantic segmentation by scene rendering in multiple layers and using artificial depth information. Smart augmentation techniques are deployed in procedural generation, as well as label filtering techniques for more realistic dataset labels. A MobileNet-SSD based deep learning model is trained through transfer learning on the generated dataset. The trained model is tested both in simulated environment, as well as on a relevant real-world setup. © 2022 IEEE.

关键词： Object detection

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Basis change, projection, and relative linear algebra tricks in signal and image processing

Basis change, projection, and relative linear algebra tricks...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Adam Dąbrowski Faculty of Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Signal Processing and Electronic Systems Jana Pawła II 24 Poznań University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

In this tutorial some basic linear algebra problems: basis change and projection, are discussed together with examples of their applications in signal and image processing. In typical linear algebra university courses perpendicular projections are only discussed. However, in image processing, for defining various color spaces, we need non-perpendicular projections. That is why this is the key problem in this tutorial.

关键词： Vectors Null space Gray-scale Image color analysis Symmetric matrices Color Tutorials Transforms Robot kinematics Transducers

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Study of the Applicability of the Method of Optical Triangulation for Evaluation of the Geometric Parameters and Cleanliness of the Surface of Products of Complex Shapes

Study of the Applicability of the Method of Optical Triangul...

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Information, control, and Communication Technologies (ICCT), International Conference on

作者： Vyacheslav V. Konyashov Alexey S. Sergeev Oleg A. Kolganov Alexey V. Fedorov Kseniya A. Konyashova Vladimir V. Bychenok Faculty of Control Systems and Robotics ITMO University ST Petersburg Russia Scientific and technical center “Etalon” ST Petersburg Russia Institution of Science “IKCSEKT” ST Petersburg Russia

The results of experimental studies of the applicability of the method of optical laser triangulation for constructing the profile of conical and cylindrical products with a ribbed surface, made by milling, are reflected. An algorithm for constructing a geometric profile of products of complex shape based on a system of triangulation sensors is proposed. The results of experimental approbation of the proposed algorithm on the stand for automated control of the geometry of complex-profile parts using a laser triangulation 2-D scanner are presented. The sensitivity of a laser triangulation 2-D scanner to the roughness parameters during milling the surface of products is evaluated. The accuracy characteristics of the triangulation method for determining the surface roughness parameters for different orientations of laser radiation with respect to the test object are estimated.

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Camera-based light source localization for precise luminous intensity measurement of airport lamps

Camera-based light source localization for precise luminous ...

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Kacper Podbucki Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

Measuring luminous intensity using electronic sensors requires their precise positioning. In the case of mobile measurement platforms, it is important to detect the light source and thus determine the correct direction of movement of the measuring device. This article presents research on a solution for the initial detection of glowing airport lamps based on camera images. The impact of the selection of parameters and image processing methods on the prepared data set was assessed. The histogram filtration method was introduced to improve the effectiveness of airport lamp localization. The proposed solution was investigated in different weather and daytime conditions. The overall accuracy of the proposed solution is more than ${9 0 \%}$.

关键词： Location awareness Histograms Accuracy Filtration Signal processing algorithms Airports Sensors Meteorology Light sources Erosion

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Comparative Analysis of Programming by Demonstration Methods: Kinesthetic Teaching vs Human Demonstration

arXiv

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arXiv 2024年

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

Programming by demonstration (PbD) is a simple and efficient way to program robots without explicit robot programming. PbD enables unskilled operators to easily demonstrate and guide different robots to execute task. In this paper we present comparison of demonstration methods with comprehensive user study. Each participant had to demonstrate drawing simple pattern with human demonstration using virtual marker and kinesthetic teaching with robot manipulator. To evaluate differences between demonstration methods, we conducted user study with 24 participants which filled out NASA raw task load index (rTLX) and system usability scale (SUS). We also evaluated similarity of the executed trajectories to measure difference between demonstrated and ideal trajectory. We concluded study with finding that human demonstration using a virtual marker is on average 8 times faster, superior in terms of quality and imposes 2 times less overall workload than kinesthetic teaching. © 2024, CC BY.

关键词： Demonstrations

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Finite-Time control Protocol for Uniform Allocation of Second-Order Agents

Finite-Time Control Protocol for Uniform Allocation of Secon...

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IEEE Conference on Decision and control

作者： K. Zimenko D. Efimov A. Polyakov X. Ping Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia CNRS UMR 9189 - CRIStAL Inria Univ. Lille Lille France Xidian University Xi'an Shaanxi China

The paper addresses the problem of uniform finite-time robust allocations of second-order agents on a straight line. A decentralized homogeneous control protocol is proposed that uses only agent's states and local interactions (distances between two closest neighbors). Sufficient conditions of finite-time (input-to-state) stability are proposed in the form of Linear Matrix Inequalities. The theoretical results are illustrated via numerical simulations.

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Foreign Object Debris detection at aerodromes using YOLOv5

Foreign Object Debris detection at aerodromes using YOLOv5

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Signal Processing Algorithms, Architectures, Arrangements and Applications (SPA)

作者： Jakub Suder Tomasz Marciniak Faculty of Automatic Control Robotics and Electrical Engineering Institute of Automatic Control and Robotics Division of Electronic Systems and Signal Processing Jana Pawła II 24 Poznan University of Technology Poznań Poland

ISBN: (数字)9788362065486

ISBN: (纸本)9798350373806

The latest EASA recommendations from 2024 indicate the possibility of using machine learning techniques in aerodrome monitoring. The aim of the work was to analyze solutions and prepare FOD (Foreign Object Debris) object detection software on aerodromes. In order to implement the issue, a dataset of photos and video recordings for testing algorithms was developed. The dataset consists of 1480 photos showing FOD at aerodromes and photos of the runway itself, according to EASA and FAA recommendations. FOD detection was implemented using a classical, k-means method and effective YOLOv5.

关键词： YOLO Reviews Neural networks Software algorithms Signal processing algorithms Software Real-time systems Video recording Monitoring Testing

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Method of control System Design with Predetermined Overshoot for Optical Axis Servo Drives of SLR Station

Method of Control System Design with Predetermined Overshoot...

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2020 IEEE Conference of Russian Young Researchers in Electrical and Electronic Engineering, EIConRus 2020

作者： Shustov, Ilya V. Tolmachev, Valery A. Lovlin, Sergey Yu. ITMO University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728157610

The paper considers the method of control system design for optical axis servo drives of SLR station. The method allows to improve accuracy of optical axis servo drives by mean of increasing performance of the inner velocity control loop. The represented analytical equations allow to tune up regulator that provide maximum performance of control system with predetermined overshoot. The obtained analytical equations take into account both elasticity and internal damping of an actuating axis mechanism. The simulation results of the control system of the elevation axis servo drive of the SLR station "Stajer-2 OPU LIK" verify the method. © 2020 IEEE.

关键词： Friction

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Finite Time Convergence Parameter Estimator for Nonlinear MIMO System*

Finite Time Convergence Parameter Estimator for Nonlinear MI...

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Mediterranean Conference on control and Automation (MED)

作者： Dmitry Bazylev Sergey Vrazhevsky Faculty of Control Systems and Robotics ITMO University Saint Petersburg Russia Laboratory of Adaptive and Iintelligent Control of Networked and Distributed systems IPME RAS Saint Petersburg Russia

ISBN: (数字)9781665406734

ISBN: (纸本)9781665406741

In this paper, we present a finite time convergence (FTC) parameter estimator for a class of non-linear MIMO systems. The designed FTC estimator is based on a continuous-time parameter identification algorithm that was recently proposed by the authors. Compared to the previous solution the new modified estimator doesn’t require the unobvious to achieve in practice assumptions imposed on regression functions to ensure guaranteed convergence. As a practical example, we use a “Twin Rotor MIMO System” laboratory bench which model is given by a nonlinear multi-channel system with cross-couplings. Significant improvement of the transient behavior for the new parameter estimator is demonstrated via representative simulation results.

关键词： Parameter estimation Heuristic algorithms Simulation Friction Rotors Transforms Mathematical models

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Machine Vision for Auto Positioning in the Modular Industrial Equipment: A Case Study 3

Machine Vision for Auto Positioning in the Modular Industria...

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3rd IEEE Conference on Industrial Cyberphysical systems, ICPS 2020

作者： Afanasev, Maxim Ya. Fedosov, Yuri V. Andreev, Yuri S. Krylova, Anastasiya A. Shorokhov, Sergey A. Zimenko, Kseniia V. Kolesnikov, Mikhail V. Itmo University Faculty of Control Systems and Robotics St. Petersburg Russia

ISBN: (纸本)9781728163895

The unification principle of industrial equipment involves splitting the installation into interchangeable components, from which the required type of equipment is assembled for specific production tasks according to the order. For the common industrial equipment, zero position setting usually causes no issues. However, for the modular machines with different sizes of modules, the mounting error can be appeared and it has to be corrected automatically. In addition, due to a possible frequent change of equipment during the production process, clamps can wear out, increasing the error. It is necessary to introduce an automatic adjustment of tool position relative to the carriage suspension, implemented using machine vision systems. The cost of video capture equipment and computing tools decreases, and their characteristics, on the contrary, grow. Moreover, algorithms for recognizing markers' position and angle together with augmented reality development tools are also constantly being improved with their application complexity being significantly reduced, which emphasizes the practicability of their use. The paper describes the problem of eliminating the installation error of instrumental modules on a three-axes platform. The proposed method involves the use of a number of reference markers on the platform, its suspension, and on the plug-in modules. © 2020 IEEE.

关键词： Computer vision

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