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24th International Carpathian control Conference, ICCC 2023

作者： Flaga, Stanislaw Majcher, Maciej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

When building digital twins of existing technical solutions, we need a large amount of data on the parameters of their operation under various conditions. The source of data on the values of process variables at the lowest level is control devices - most often PLCs. There are many ways to acquire the qualities of process variables available from the PLC level. Increasingly, OPC UA is replacing the OPC model, and the OPC UA server is increasingly a functionality of the PLC CPU. The Industrial Internet of Things IIoT is used in companies moving toward Factory 4.0. Data from controllers can be acquired using high-level languages such as C++, C# or Python. Libraries often made available under an open-source license are used for this. For example, you can find commercial libraries for communication between PLCs of selected manufacturers and MySQL servers. Siemens provides a library for communication between S7-1200/1500 controllers and MS SQL server. The author has yet to find an exhaustive analysis of such a solution. In the literature, there need to be more studies of experiments describing the performance of query generation and execution and the impact of the library on PLC performance. The article presents the results of an experimental study of this issue. © 2023 IEEE.

关键词： Libraries

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Research study of image classification algorithms based on Convolutional Neural Networks 24

Research study of image classification algorithms based on C...

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24th International Carpathian control Conference, ICCC 2023

作者： Nawrocka, Agata Nawrocki, Marcin Kot, Andrzej AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Department of Process Control Krakow Poland

ISBN: (纸本)9798350310221

The beginning of the paper introduces the idea of neural networks by presenting the neuron models and artificial neural networks. Next, the flow of operations used in the development of convolutional neural networks is presented, as well as an overview of popular architectures used in model development. After introducing the theoretical issues, a project using the EfficientNet architecture to recognize medical images taken by MRI is presented. The project describes: the selection and parameters of the MRI image database representing different types of brain tumors, the process of implementation and appropriate modification of the EfficientNet architecture used to classify images, the presentation of the results of learning the convolutional neural network and the images that highlight on the basis of which area the convolutional neural network classifies images. © 2023 IEEE.

关键词： Convolutional neural networks

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A Multi-party Asymmetric Self-play Algorithm and Its Application in Multi-USV Adversarial Game Simulations 24

A Multi-party Asymmetric Self-play Algorithm and Its Applica...

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2024 International Conference on Machine Learning, Pattern Recognition and Automation engineering, MLPRAE 2024

作者： Rao, Jinjun Wang, Cong Liu, Mei Lei, Jingtao Giernacki, Wojciech Department of Precision Mechanical Engineering School of Mechatronic Engineering and Automation Shanghai University China Institute of Robotics and Machine Intelligence Faculty of Automatic Control Robotics and Electrical Engineering Poznan University of Technology Poland

ISBN: (纸本)9798400709876

Aiming at the problem that the combination of self-play (SP) and deep reinforcement learning (DRL) only involves two-party games and the policy learning of each party is limited, a multi-party asymmetric self-play algorithm (MASP) is proposed. Firstly, by improving the ELO scoring system, the ELO scoring takes into account each party of the unmanned surface vehicle (USV) clusters, and the imbalance of the number of USV clusters, so that the frequency of exchanging strategies of all USV clusters in the confrontation process is equal. Secondly, it ensures that USV clusters have a balanced combat ability, and at the same time ensures that the combat ability of all parties is strong and weak and the gap is not too wide. In addition, the parameters are dynamically set to reduce the update frequency of the policy of the stronger party. The experimental results show that the MASP can make the USV clusters learn more effective policies, have a shorter game time, and obtain higher rewards and ELO scores in the simple 2v2 adversarial game scenario and the three-party game scenario of a warship escort mission. © 2024 ACM.

关键词： Deep reinforcement learning

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Model and control Synthesis for an Active Vehicle Suspension Strut Involving a Single-Rod Electrohydraulic Actuator

Model and Control Synthesis for an Active Vehicle Suspension...

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International Carpathian control Conference (ICCC)

作者： Marek Sibielak Jarosław Konieczny Adam Smoter Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The paper presents the synthesis of a nonlinear model of a wheeled vehicle suspension strut using an asymmetric (single-rod) electrohydraulic actuator. Due to differences in the active areas of the piston and the nonlinear nature of flows through the throttling orifices of the servo valve, the nonlinear model is characterised by increased complexity relative to systems using symmetric actuators (double rod). The paper covers the results of simulation studies to linearise the model and synthesise a linear quadratic controller based on the linearised model. The derived linear-quadratic controller was utilised to control a nonlinear model of the suspension strut. The control performance of the nonlinear active suspension strut model was compared with laboratory tests of the passive suspension system.

关键词： Suspensions (mechanical systems) Roads Orifices Wheels process control Valves Mathematical models

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Experimental Set-Up with a Linear Motor Drive System for Magnetorheological Dampers Testing

Experimental Set-Up with a Linear Motor Drive System for Mag...

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International Carpathian control Conference (ICCC)

作者： Łukasz Jastrzębski Piotr Micek Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The work deals with the design, realization and functional tests of an experimental set-up equipped with a linear motor drive system. This experimental set-up is used to determine both the mechanical and electrical properties of linear magnetorheological (MR) dampers. The main elements of the experimental set-up are: a Linmot P10-70 linear motor operating with a Servo Drive E1400 controller, a Sensopart RLA50-220 laser triangulation displacement sensor, a ZEPWN CL-14 strain gauge force sensor operating with a CL 100P amplifier, and a power amplifier based on an OPA549 silicon chip. The linear motor allows the damper piston rod to be moved by a maximum of 150 mm. The power amplifier can operate as a controllable current or voltage source, supplying the damper coil. Its maximum output current is 5 A. The power amplifier internal circuits enable simultaneous measurement of both voltage and current. The physical quantities measured at the experimental set-up, i.e., displacement (0 - 220 mm), force (± 5 kN), coil voltage (± 10 V) and current (± 5 A), are converted into voltage signals in the range ± 10 V and fed to an Inteco RT-DAC 4 PCI measurement-control card supported by the MATLAB/Simulink environment. This card simultaneously generates analogue signals representing the set value of the linear drive slider displacement. A commercial MR damper applied in Audi TT passenger cars was used for functional tests carried out on the designed and constructed experimental set-up. The force-displacement and force-velocity characteristics were experimentally determined at constant coil currents. The temperature of both the stand elements and tested damper was also determined using a FLIR E50 thermal imaging camera.

关键词： Coils Motor drives Voltage measurement Force measurement Current measurement Magnetomechanical effects Magnetic resonance imaging

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Design of an Embedded control System for a Linear MR Damper Powered by Energy Harvested from Vibrations

Design of an Embedded Control System for a Linear MR Damper ...

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International Carpathian control Conference (ICCC)

作者： Łukasz Jastrzębski Arkadiusz Kozieł Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Krakow Krakow Poland

ISBN: (数字)9798350350708

ISBN: (纸本)9798350350715

The work concerns design and realization of embedded control system (ECS) dedicated to a self-powered vibration reduction system equipped with a magnetorheological damper. Unlike a typical MR damper control system whose electrical circuits are powered from an external energy source, the developed system is powered by energy extracted from a vibrating structure and converted into electrical energy using an electromagnetic harvester. The ECS contains a rectifier, a driver unit, a 32-bit microcontroller, and an internal power supply system which are integrated in an engineered PCB. The sensors (MEMS accelerometers) employed in the control system are powered by DC voltage provided by the ECS. The paper presents the structure, components, and functions of the ECS

关键词： Vibrations Micromechanical devices Power supplies Microcontrollers Rectifiers control systems Shock absorbers

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A piezoresistive-based 3-axial MEMS tactile sensor and integrated surgical forceps for gastrointestinal endoscopic minimally invasive surgery

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Microsystems & Nanoengineering 2024年第5期10卷 71-83页

作者： Cheng Hou Huxin Gao Xiaoxiao Yang Guangming Xue Xiuli Zuo Yanqing Li Dongsheng Li Bo Lu Hongliang Ren Huicong Liu Lining Sun School of Mechanical and Electrical Engineering Jiangsu Provincial Key Laboratory of Advanced RoboticsSoochow UniversitySuzhouChina Faculty of Mechanical and Electrical Engineering Kunming University of Science and TechnologyJingming South RoadKunmingChina Yunnan Key Laboratory of Intelligent Control and Application KunmingChina Department of Electronic Engineering The Chinese University of Hong Kong(CUHK)Hong KongChina. Department of Gastroenterology Qilu HospitalShandong UniversityJinanShandongChina

In robotic-assisted surgery(RAS),traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task,and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors,such as in gastrointestinal endoscopic surgery(GES).In this study,we propose a microelectromechanical system(MEMS)piezoresistive 3-axial tactile sensor for GES forceps,which can intuitively provide surgeons with online force feedback during robotic *** MEMS fabrication process facilitates sensor chips with miniaturized *** fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps,which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares *** experiments,the sensor's ability to accurately measure directional forces up to 1.2 N in the Z axis was validated,demonstrating an average relative error of only 1.18%compared with the full-scale *** results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations,such as grasping and pulling,and in ex vivo testing with a porcine *** compact size,high precision,and integrability of the sensor establish solid foundations for clinical application in the operating theater.

关键词： axial surgery intensified

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The Application of Machine Learning in Sentiment Analysis of Social Media and E-commerce: A Review of Methods and Techniques

The Application of Machine Learning in Sentiment Analysis of...

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International Carpathian control Conference (ICCC)

作者： Agata Nawrocka Marcin Nawrocki Andrzej Kot Marcin Słychan Department of Process Control Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland Departament of Mechinery Engineering and Transport Faculty of Mechanical Engineering and Robotics AGH University of Science and Technology Krakow Poland

ISBN: (数字)9798331501273

ISBN: (纸本)9798331501280

The paper describes the application of machine learning for sentiment analysis in the context of social media and e-commerce. It presents a literature review and an overview of available sentiment analysis methods, such as sentiment classification, the use of lexicons, machine learning methods (e.g., SVM, decision trees), and word embedding techniques. Both traditional approaches and modern solutions based on deep learning are thoroughly *** the practical part of the thesis, sentiment analysis was conducted on data collected from social media platforms such as Twitter and Reddit. Various machine learning algorithms were utilized, and the model's behavior was analyzed based on different activation functions.

关键词： Deep learning Support vector machines Sentiment analysis Analytical models Recurrent neural networks Social networking (online) Text categorization Electronic commerce Systematic literature review Sorting

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Reachability-Based Confidence-Aware Probabilistic Collision Detection in Highway Driving

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engineering 2024年第2期33卷 90-107页

作者： Xinwei Wang Zirui Li Javier Alonso-Mora Meng Wang School of Engineering and Materials Science Queen Mary University of LondonLondon E14NSUK Department of Cognitive Robotics Delft University of TechnologyDelft 2628 CDNetherlands School of Mechanical Engineering Beijing Institute of TechnologyBeijing 100081China Chair of Traffic Process Automation “Friedrich List”Faculty of Transport and Traffic SciencesTU DresdenDresden 01069Germany

Risk assessment is a crucial component of collision warning and avoidance systems for intelligent ***-based formal approaches have been developed to ensure driving safety to accurately detect potential vehicle ***,they suffer from over-conservatism,potentially resulting in false–positive risk events in complicated real-world *** this paper,we combine two reachability analysis techniques,a backward reachable set(BRS)and a stochastic forward reachable set(FRS),and propose an integrated probabilistic collision–detection framework for highway *** this framework,we can first use a BRS to formally check whether a two-vehicle interaction is safe;otherwise,a prediction-based stochastic FRS is employed to estimate the collision probability at each future time ***,the framework can not only identify non-risky events with guaranteed safety but also provide accurate collision risk estimation in safety-critical *** construct the stochastic FRS,we develop a neural network-based acceleration model for surrounding vehicles and further incorporate a confidence-aware dynamic belief to improve the prediction *** experiments were conducted to validate the performance of the acceleration prediction model based on naturalistic highway driving *** efficiency and effectiveness of the framework with infused confidence beliefs were tested in both naturalistic and simulated highway *** proposed risk assessment framework is promising for real-world applications.

关键词： Probabilistic collision detection Confidence awareness Probabilistic acceleration prediction Reachability analysis Risk assessment

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Design and Analysis of Extensible Cable-Driven Continuum Robot with Variable Stiffness

Design and Analysis of Extensible Cable-Driven Continuum Rob...

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2023 IEEE International Conference on robotics and Biomimetics, ROBIO 2023

作者： Seleem, Ibrahim A. Naeem, Mohamed A. Ishii, Hiroyuki Waseda University Department of Modern Mechanical Engineering Japan Menoufia University Faculty of Electronic Engineering Department of Industrial Electronics and Control Engineering Egypt Harbin Institute of Technology School of Mechanical and Electrical Engineering Department of Mechatronics Engineering China South Valley University Faculty of Engineering Department of Mechatronics and Robotics Engineering Egypt

ISBN: (纸本)9798350325706

Extensible Soft Robots (ESRs) have increasingly attracted attention, especially in tight and complex environments, owing to their dexterity, and wide reachable workspaces relative to their volume. The existing actuation methods of ESR still suffer from challenges including large dimensions, expensive, complex modeling and control, and limited payload capacity. In this paper, we introduce a novel design for a lightweight, extensible and variable stiffness soft robot-based cable-driven actuation without backbone. The design composes of one section with three segments based on semi-octagon honeycomb structure, wherein the middle segment acts like a soft spring to provide extension feature. Additionally, the top and bottom segments have identical structure with two honeycomb patterns embedded within each other to improve the stiffness of the design. A design analysis is conducted to optimize the proposed structure with respect to stress and displacement. Additionally, a shape estimation approach is utilized to get accurate inference of the prototype's shape based on data acquired from a low-cost Inertial Measurement Unit (IMU) and Motion Capture System (MCS), and constant curvature assumption. A series of experiments including workspace reach-ability, repeatability, shape approximation and payload analysis are carried out to validate the proposed design. The results show that the prototype exhibits good compression/extension ratio up to 42% and 50% relative to its normal length, respectively. Moreover, its payload capability reaches to 565 grams. © 2023 IEEE.

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