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21st Polish Control Conference, PCC 2023

作者： Pilat, Adam Krzysztof Milanowski, Hubert Bieszczad, Rafal Sikora, Bartiomiej Faculty of Electrical Engineering Automatics Computer Science and Biomedical Engineering Department of Automatic Control and Robotics AGH-University of Science and Technology Krakow Poland

ISBN: (纸本)9783031351693

This elaboration presents the synthesis of the Takagi-Sugeno type Fuzzy Logic controller realizing the programmable parameters of the state feedback controller together with the steady state current for the active magnetic levitation system. Closed-loop dynamics was calculated precisely with respect to the requested dynamics. Two cases were considered: fixed-and variable-closed-loop dynamics. The Fuzzy Logic Controller was considered under four scenarios with linear, nonlinear, and constant in-range output. The study was supported by simulations and experimental investigations. The position of the levitating sphere stands as an illustration of the system in operation. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2023.

关键词： Dynamics

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A Framework for Centralized Traffic Routing in Urban Areas 33

A Framework for Centralized Traffic Routing in Urban Areas

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33rd International Joint Conference on Artificial Intelligence, IJCAI 2024

作者： Švadlenka, Matyáš Chrpa, Lukáš Czech Institute of Informatics Robotics and Cybernetics Czech Technical University in Prague Czech Republic Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

ISBN: (纸本)9781956792041

Dealing with the ever-increasing demand for traffic management is one of the main challenges of the 21st century. The issue is much more apparent in urban areas during rush hours. Traffic congestion causes economic losses due to delays and increased fuel consumption and, on top of that, is a major health risk. Intelligent centralized traffic routing is an important concept aiming at reducing traffic congestion in urban areas by more effectively utilizing road networks. In this demo, we present a framework that, in a nutshell, integrates techniques for intelligent centralized traffic routing into the well-known SUMO simulator, so these techniques can be evaluated in realistic settings on real/realistic datasets. In particular, the framework automatically identifies "problematic" urban regions by analyzing historical traffic data, then simplifies the road networks by precomputing promising routes (for each considered traffic flow), and finally, leverages a planning-based approach to generate routes. Our framework is evaluated on a real dataset from Dublin's metropolitan area. © 2024 International Joint Conferences on Artificial Intelligence. All rights reserved.

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Low Fidelity Digital Twin for Automated Driving Systems: Use Cases and Automatic Generation 8

Low Fidelity Digital Twin for Automated Driving Systems: Use...

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8th International Conference on Intelligent Traffic and Transportation, ICITT 2024 - incorporating the 8th International Conference on Communication and Network Technology, ICCNT 2024

作者： Vlasak, Jiri Klapálek, Jaroslav Kollarčík, Adam Sojka, Michal Hanzálek, Zdeněk Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic Czech Institute of Informatics Robotics and Cybernetics Czech Technical University Prague Czech Republic

ISBN: (纸本)9781643685601

Automated driving systems are an integral part of the automotive industry. Tools such as Robot Operating System and simulators support their development. However, in the end, the developers must test their algorithms on a real vehicle. To better observe the difference between reality and simulation–the reality gap–digital twin technology offers real-time communication between the real vehicle and its model. We present a low fidelity digital twin generator and describe situations where automatic generation is preferable to high fidelity simulation. We validate our approach of generating a virtual environment with a vehicle model by replaying the data recorded from the real vehicle. © 2024 The Authors.

关键词： Robot Operating System

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Uncertainty propagation in the internet of things

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Discover Internet of Things 2024年第1期4卷 1-20页

作者： Pal, Shantanu Khalifa, Sara Miller, Dimity Dedeoglu, Volkan Dorri, Ali Ramachandran, Gowri Moghadam, Peyman Kusy, Brano Jurdak, Raja The School of Information Technology Faculty of Science Engineering and Built Environment Deakin University MelbourneVIC 3125 Australia The School of Information Systems Faculty of Science Queensland University of Technology BrisbaneQLD4000 Australia The School of Electrical Engineering and Robotics Faculty of Engineering Queensland University of Technology BrisbaneQLD4000 Australia The Distributed Sensing Systems Group Data61 CSIRO PullenvaleQLD 4069 Australia The School of Computer Science Faculty of Science Queensland University of Technology BrisbaneQLD 4000 Australia The CSIRO Robotics Data61 CSIRO PullenvaleQLD 4069 Australia

The Internet of Things (IoT) detects context through sensors capturing data from dynamic physical environments, in order to inform automation decisions within cyber physical systems (CPS). Diverse types of uncertainty in the IoT pipeline can propagate within and across nodes, involving complex interactions with security, privacy, and trust that remain largely unexplored. This paper conducts an in-depth analysis of the types of uncertainties in IoT and how they propagate within IoT nodes and networks. We consider adversarial uncertainty in the context of distributed IoT networks to capture perturbations due to malicious actors in the network that can influence IoT security, privacy and trust. We examine the propagation of adversarial uncertainty and well-known uncertainty types, namely aleatoric and epistemic uncertainty, within the five distinct stages of sensing, communication, storage, processing and decision-making in an IoT pipeline, across network layer boundaries, and across nodes within an IoT network. Using this mapping, we analyse the interactions between the uncertainty types and their propagation, and security, privacy, and trust in IoT. Based on this analysis, we discuss guidelines and considerations for mitigating uncertainty in IoT through a smart grid use case study. © The Author(s) 2024.

关键词： Differential privacy

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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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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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How Much Should This Symbol Weigh? A GNN-Advised Clause Selection 24th

How Much Should This Symbol Weigh? A GNN-Advised Clause Sele...

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24th International Conference on Logic for Programming, Artificial Intelligence and Reasoning, LPAR 2023

作者： Bártek, Filip Suda, Martin Czech Institute of Informatics Robotics and Cybernetics Czech Republic Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

Clause selection plays a crucial role in modern saturation-based automatic theorem provers. A commonly used heuristic suggests prioritizing small clauses, i.e., clauses with few symbol occurrences. More generally, we can give preference to clauses with a low weighted symbol occurrence count, where each symbol’s occurrence count is multiplied by a respective symbol weight. Traditionally, a human domain expert would supply the symbol weights. In this paper, we propose a system based on a graph neural network that learns to predict symbol weights with the aim of improving clause selection for arbitrary first-order logic problems. Our experiments demonstrate that by advising the automatic theorem prover Vampire on the first-order fragment of TPTP using a trained neural network, the prover’s problem solving capability improves by 6.6% compared to uniformly weighting symbols and by 2.1% compared to a goal-directed variant of the uniformly weighting strategy. © 2023, EasyChair. All rights reserved.

关键词： Theorem proving

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Real3D-Aug: Point cloud augmentation by placing real objects with occlusion handling for 3D detection and segmentation 26

Real3D-Aug: Point cloud augmentation by placing real objects...

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26th Computer Vision Winter Workshop, CVWW 2023

作者： Šebek, Petr Pokorný, Šimon Vacek, Patrik Svoboda, Tomáš Vision for Robotics and Autonomous Systems Dept. of Cybernetics Faculty of Electrical Engineering Czech Technical University in Prague Czech Republic

Object detection and semantic segmentation with the 3D LiDAR point cloud data require expensive annotation. We propose a data augmentation method that takes advantage of already annotated data multiple times. We propose an augmentation framework that reuses real data, automatically finds suitable placements in the scene to be augmented, and handles occlusions explicitly. Due to the usage of the real data, the scan points of newly inserted objects in augmentation sustain the physical characteristics of the LiDAR, such as intensity and raydrop. The pipeline proves competitive in training top-performing models for 3D object detection and semantic segmentation. The new augmentation provides a significant performance gain in rare and essential classes, notably 6.65% average precision gain for "Hard"pedestrian class in KITTI object detection or 2.14 mean IoU gain in the SemanticKITTI segmentation challenge over the state of the art. © 2023 Copyright for this paper by its authors.

关键词： Object detection

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Transparency in Detecting Defects of a Printed Circuit Board: Harnessing XAI for Improved Quality Control in Electronic Manufacturing Industries 10

Transparency in Detecting Defects of a Printed Circuit Board...

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10th IEEE International Conference on Smart Instrumentation, Measurement and Applications, ICSIMA 2024

作者： Ali, Abdul Malik Mohd Sahlan, Shafishuhaza Khamis, Nurulaqilla Ziyi, Xie Rashid, Fadilla Latyka Nor Electrical Electronic & Automation Section Kedah 0900 Malaysia Universiti Teknologi Malaysia Centre for Artificial Intelligence and Robotics Faculty of Electrical Engineering Skudai Johor Malaysia Universiti Teknologi Malaysia Faculty of Electrical Engineering Skudai Johor Malaysia Universiti Kebangsaan Malaysia Center for Artificial Intelligence Technology Selangort Bangi Malaysia

ISBN: (纸本)9798350365283

In electronic manufacturing industries, defects emerging from Printed Circuit Boards (PCBs) may cause severe malfunctions of the final product. This paper aims to address this issue by proposing the utilization of artificial intelligence (AI) techniques to detect common defects in PCB through the implementation of deep learning (DL) models. The paper utilizes Convolutional Neural Networks (CNNs) and their derived models, in particular, region-based convolutional neural network (R-CNN), Fast R-CNN, and Faster R-CNN. Analysis of the utilization of these techniques in detecting common defects of the PCB, which are classified as missing hole, open circuit, short, spur and spurious circuit are performed in Google Colab platform using Python, with data retrieved from Kaggle. From the results obtained, the best performance parameters for color input for the defect classes are 95.3%, 83.2%, 89.7%, 85.6% and 82.7% respectively. To better understand the results obtained, explainable AI (XAI) techniques, LIME and Grad-CAM were utilized. The implemented technique successfully shows the decision logic for the defect classes through the interpretation images obtained. © 2024 IEEE.

关键词： Convolutional neural networks

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Rapid Maintenance based improved design for omnidirectional controlled wheels for VirtuSphere system 29

Rapid Maintenance based improved design for omnidirectional ...

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29th IEEE International Symposium for Design and Technology in Electronic Packaging, SIITME 2023

作者： Bazavan, Lidia Cristina Roibu, Horatiu Coman, Daniela Cismaru, Stefan Irinel Petrisor, Anca Bizdoaca, Nicu George University of Craiova Faculty of Automation Computers and Electronics Mechatronics and Robotics Department Craiova Romania University of Craiova Faculty of Mechanics Engineering and Management of the Technological Systems Department Craiova Romania University of Craiova Faculty of Electrical Engineering Electrical Energy and Aerospace Engineering Department Craiova Romania

ISBN: (纸本)9798350344110

Designing for rapid maintenance requires an approach whereby the replacement of rapidly wearing sub-assemblies can be easily replaced while ensuring that the degree of wear can be tracked in real-time if possible. The redesign of the movement system of the Virtusfera platform by the authors previously led to an omnidirectional platform with increased integration facilities in virtual environments. The article presents two solutions for redesigning some subsystems that make up the new experimentally validated solution, presenting at the same time the study based on which the subsystems with the lowest reliability were identified and a proposal for a real-time tracking solution for those subsystems. Numerical simulations of the two solutions are presented, and conclusions and directions are formulated regarding the practical implementation of these subsystems based on the concept of design based on rapid maintenance. © 2023 IEEE.

关键词： Maintenance

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