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2022 Progress in Applied Electrical Engineering, PAEE 2022

作者： Kawala-Sterniuk, Aleksandra Zygarlicki, Jaroslaw Lysiak, Adam Grochowicz, Barbara Pelc, Mariusz Bauer, Waldemar Baczkowicz, Dawid Krecisz, Krzysztof Dylag, Katarzyna A. Wieczorek, Wiktoria Kahankova, Radana Martinek, Radek Opole University of Technology Faculty of Electrical Engineering Automatic Control and Informatics Opole Poland University of Greenwich School of Computing and Mathematical Sciences London United Kingdom Agh University of Science and Technology Department of Automatic Control and Robotics Krakow Poland Opole University of Technology Faculty of Physical Education and Physiotherapy Opole Poland St. Louis Children Hospital Krakow Poland Jagiellonian University in Krakow-Collegium Medicum Department of Pathophysiology Krakow Poland Jagiellonian University in Krakow-Collegium Medicum Department of Bioinformatics and Telemedicine Krakow Poland Vsb - Technical University Ostrava Department of Cybernetics and Biomedical Engineering-FEECS Ostrava-Poruba Czech Republic

ISBN: (纸本)9781665455152

In this paper various variables describing brain signals such as near-infrared spectroscopy (NIRS) and electroencephalography (EEG) on the Naive Bayesian Classifier were presented. Analysis of biomedical signals is a very challenging task - therefore the authors of this work decided to analyse two types of brain signals - EEG and NIRS, which have different features, character, nature and are differently prone to various artifacts occurrence. The applied classifiers can be applied for various features extraction and pattern comparisons, which is useful in diagnostic processes. © 2022 IEEE.

关键词： Near infrared spectroscopy

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Diagnostics of operational wear in hybrid load-carrying cables 5

Diagnostics of operational wear in hybrid load-carrying cabl...

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5th International Conference of Computational Methods in Engineering science, CMES 2020

作者： Krakowski, T. Molski, S. Ruta, H. Lonkwic, P. Tofil, A. AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza Ave. 30 Kraków30-059 Poland The State School of Higher Education The Institute of Technical Sciences and Aviation Pocztowa street 54 Chelm22-100 Poland

Along with the development of lifting devices, the new hybrid load-carrying cables were introduced to the market. The solutions of this type covered both, steel ropes of circular section and belts being a hybrid combination of many steel ropes potted with plastic coating into a single flat friction belt. Such design of ropes as compared to the traditional round steel ropes enabled to reduce the drive wheel diameter while maintaining frictional contact conditions and required ratio of the drive wheel and load-carrying cable diameters that is at least 40. Despite the above-mentioned advantages, a research issue that is of interest but so far has not been fully investigated is the process of wear of the hybrid load-carrying cables and evaluation of the technical condition of ropes being the load-carrying elements in the applied solutions, especially during the long-term operation. This article presents the possibilities of applying the magnetic method for evaluation of the technical condition of steel ropes being the load-carrying element of hybrid belts. The authors have presented their solution of the measuring head for magnetic testing of the load-carrying hybrid cables, elaborated by the team of employees of the Department of Machine Engineering and Transport at University of science and technology in Cracow, that enables the quantitative assessment of the hybrid load-carrying cable wear. © Published under licence by IOP Publishing Ltd.

关键词： Friction

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S-Graphs+: Real-time Localization and Mapping leveraging Hierarchical Representations

arXiv

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arXiv 2022年

作者： Bavle, Hriday Sanchez-Lopez, Jose Luis Shaheer, Muhammad Civera, Javier Voos, Holger Automation and Robotics Research Group Interdisciplinary Centre for Security Reliability and Trust University of Luxembourg Luxembourg Faculty of Science Technology and Medicine University of Luxembourg Luxembourg I3A Universidad de Zaragoza Spain

In this paper, we present an evolved version of Situational Graphs, which jointly models in a single optimizable factor graph (1) a pose graph, as a set of robot keyframes comprising associated measurements and robot poses, and (2) a 3D scene graph, as a high-level representation of the environment that encodes its different geometric elements with semantic attributes and the relational information between them. Specifically, our S-Graphs+ is a novel four-layered factor graph that includes: (1) a keyframes layer with robot pose estimates, (2) a walls layer representing wall surfaces, (3) a rooms layer encompassing sets of wall planes, and (4) a floors layer gathering the rooms within a given floor level. The above graph is optimized in real-time to obtain a robust and accurate estimate of the robot’s pose and its map, simultaneously constructing and leveraging high-level information of the environment. To extract this high-level information, we present novel room and floor segmentation algorithms utilizing the mapped wall planes and free-space clusters. We tested S-Graphs+ on multiple datasets, including simulated and real data of indoor environments from varying construction sites, and on a real public dataset of several indoor office areas. On average over our datasets, S-Graphs+ outperforms the accuracy of the second-best method by a margin of 10.67%, while extending the robot situational awareness by a richer scene model. Moreover, we make the software available as a docker file. Project web: https://***/s_graphs_docker/ © 2022, CC BY.

关键词： Robots

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Towards Hand Grip Force Assessment by Using Emg Estimators

SSRN

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SSRN 2022年

作者： Barański, Robert Wojnicz, Wiktoria Zagrodny, Bartlomiej Ludwicki, Michal Sobierajska-Rek, Agnieszka AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics 30 Mickiewicza Avenue Kraków30-059 Poland Gdansk University of Technology Faculty of Mechanical Engineering and Ship Technology Gdańsk Poland Lódź University of Technology Faculty of Mechanical Engineering Department of Automation Biomechanics and Mechatronics Lódź Poland Medical University of Gdańsk Faculty of Health Sciences Institute of Maritime and Tropical Medicine Gdańsk Poland

The purpose of the study was to design a method that can be used to set personal statistical relationships between isometric grip force and surface electromyography data measured on the chosen muscles involved in grip force production. The proposed method was tested by assessing dispersity (coefficients of variation) and coefficients of determination treated as metrics of the fitted relationship between the electromyography estimator and grip force. EMG estimators were assessed by using ten signal processing approaches. Relationships between grip isometric force and EMG estimators were set by using five regression fittings. Moreover, dispersity analysis was applied to assess the dispersity of tested EMG estimators and grip forces. On the base of obtained results it was defined the variation coefficients of EMG estimators with the lowest dispersity and the best regression curve between tested electromyography estimator and grip force. © 2022, The Authors. All rights reserved.

关键词： Signal processing

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Capturing Contact Surfaces by a Frustrated Total Internal Reflection System Using a Curved Plate for Comparison of the Beginning of Touching Motions by Humanitude Experts and Novices

Capturing Contact Surfaces by a Frustrated Total Internal Re...

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IEEE International Conference on Systems, Man and Cybernetics

作者： Akishige Yuguchi Mayuki Toyoda Sung-Gwi Cho Atsushi Nakazawa Jun Takamatsu Koichiro Yoshino Tsukasa Ogasawara Faculty of Advanced Engineering Tokyo University of Science Katsushika-ku Tokyo Japan Guardian Robot Project RIKEN Seika-cho Sorakugun Kyoto Japan Nara Institute of Science and Technology Ikoma Nara Japan School of Science and Engineering Tokyo Denki University Hatoyama-machi Hiki-gun Saitama Japan Graduate School of Interdisciplinary Science and Engineering in Health Systems Okayama University Kita-ku Okayama Japan Applied Robotics Re-search Microsoft Corporation Redmond WA USA

ISBN: (数字)9781665410205

ISBN: (纸本)9781665410212

Analyzing time-series changes of the contact surface by touching is important to elucidate the touching skills of Humanitude as one of the pervasive multimodal comprehensive care methodologies. For the analysis, there is a frustrated total internal reflection (FTIR) method to capture contact surfaces on a transparent flat plate by a camera. However, this conventional flat plate is far from the actual surfaces of care receivers because the surfaces of humans consist of curved shapes. In this paper, we propose an FTIR sensing system using a transparent curved plate to capture more ideal contact states with a surface shape more similar to the human body. We collect the contact surface data of the beginning of touching motions by Humanitude experts and novices using the FTIR sensing system with the curved and flat plates. Then, we compare the data by the experts and novices in terms of time-series contact areas and the quantitative indices and subjective evaluation and discuss the analysis results. Through these experiments, we confirm that the proposed system has the potential for the novices to perform more correctly the beginning of Humanitude's touching motions.

关键词： Correlation Shape Receivers Cameras Reflection Sensors Cybernetics

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Assessment of the technical condition of lift guides using a magnetic field 6

Assessment of the technical condition of lift guides using a...

引用

6th International Conference of Computational Methods in Engineering science, CMES 2021

作者： Lonkwic, P. Krakowski, T. Ruta, H. The State School of Higher Education The Institute of Technical Sciences and Aviation ul. Pocztowa 54 Chelm22 - 100 Poland AGH University of Science and Technology Faculty of Mechanical Engineering and Robotics Adama Mickiewicza30 Kraków30-059 Poland

The systems that monitor individual components of machines and devices are under constant development. The ability to detect damages at an early stage allows failures to be prevented, so any uncontrolled downtime can be predicted in a controlled manner. Continuous monitoring of technical condition is an activity that also helps to reduce the losses due to equipment failures. However, not all areas can be monitored continuously. Such areas include lift guides where wear and tear can occur naturally, i.e. through abrasion of the material layer due to interaction with moving guide shoes or after emergency braking. Emergency braking causes local damages to the guide through plastic deformation of its surface resulting from indentation of the knurled roller of the brake. Such places are cleaned mechanically, which results in local reduction of the cross-sectional area. In such a case, it is difficult to continuously assess the technical condition of guides due to the prevailing operating conditions. Therefore, a concept of a head enabling assessment of the technical condition of guides at every stage of their operation has been developed. This article presents the novel concept of a magnetic head used for assessing the technical condition of lift guide rails that are the running track of lifting equipment. The initial tests were performed on the original test setup. The concept of the developed measuring head was verified for correct operation on specially prepared flat bars with holes. The results obtained in the form of laboratory tests proved that the proposed measuring head concept can be applied to the measurements under real conditions. © 2021 Institute of Physics Publishing. All rights reserved.

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Conditions for asymptotic stability of first order scalar differential-difference equation with complex coefficients

arXiv

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arXiv 2022年

作者： Kapica, Rafal Zawiski, Radoslaw Faculty of Applied Mathematics AGH University of Science and Technology al. Mickiewicza 30 Kraków30-059 Poland Department of Automatic Control and Robotics Silesian University of Technology ul. Akademicka 16 Gliwice44-100 Poland

We investigate a scalar characteristic exponential polynomial with complex coefficients associated with a first order scalar differential-difference equation. Our analysis provides necessary and sufficient conditions for allocation of the roots in the complex open left half-plane what guarantees asymptotic stability of the differential-difference equation. The conditions are expressed explicitly in terms of complex coefficients of the characteristic exponential polynomial, what makes them easy to use in applications. We show examples including those for retarded PDEs in an abstract *** Codes 34K20 (Primary), 30C15, 34K06, , 34K41 (Secondary) © 2022, CC BY.

关键词： Asymptotic stability

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Heat Transfer Optimization of end Winding Rotor Generator by the Use of Modified Axial Spacer: A Case Study 1

Heat Transfer Optimization of end Winding Rotor Generator by...

引用

1st International Conference on Industrial Automation, Smart Grid and its Application, ICIASGA 2020

作者： Baskoro, Y. Jaya, I. Glowacz, A. Sulowicz, M. Caesarendra, W. PT Indonesia Power Indonesia Department of Automatic Control and Robotics AGH University of Science and Technology Kraków30-059 Poland Institute of Electromechanical Energy Conversion Faculty of Electrical and Computer Engineering Cracow University of Technology Warszawska 24 Cracow31-155 Poland Faculty of Integrated Technologies Universiti Brunei Darussalam Jalan Tungku Link Gadong Brunei Darussalam BE1410 Brunei

This paper presents a case study of a rotor fault occurring in the rotor generator of a steam power plant located in Lontar, Banten Province, Indonesia. The steam power plant has 3 x 315 MV capacity and uses hydrogen in the cooling system. The issue arising during the operation was caused by heat transfer exceeding the normal level. The grounding of the rotor occurred through rising vibration and temperature, tripping the generator unit. During repairs, the axial spacer was replaced with a new model, where it is longer than the original, adding a bar spacer at a previously unavailable position and creating a cooling track profile. This is a case study on the replacement of the axial spacer model aimed at preventing the expansion of the winding, so as not to touch with each other, through the installation of a longer axial spacer and the addition of the spacer bar, and lastly adding the track profile to the cooling hydrogen gas flow thereby maximizing the cooling process from the end winding rotor generator. Heat transfer is an analysed parameter related to the model change of the axial spacer. The addition of a track cooling gas flow has been able to maximize the heat transfer process, which is simulated in this paper. The performance of the rotor generator increased through several parameters after the replacement of the axial spacer model. © Published under licence by IOP Publishing Ltd.

关键词： Cooling

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Graph-Based Visual-Kinematic Fusion and Monte Carlo Initialization for Fast-Deployable Cable-Driven Robots

Graph-Based Visual-Kinematic Fusion and Monte Carlo Initiali...

引用

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： R. Khorrambakht H. Damirchi M.R. Dindarloo A. Saki S.A. Khalilpour Hamid D. Taghirad Stephan Weiss Electrical & Computer Engineering Department Control/Robotics Research Laboratory Tandon School of Engineering New York University Brooklyn NY School of Computer Science University of Adelaide Australia Faculty of Electrical Engineering University of Technology Tehran Iran Department of Smart Systems Technologies University of Klagenfurt Austria

Ease of calibration and high-accuracy task-space state-estimation purely based on onboard sensors is a key requirement for enabling easily deployable cable robots in real-world applications. In this work, we incorporate the onboard camera and kinematic sensors to drive a statistical fusion framework that presents a unified localization and calibration system which requires no initial values for the kinematic parameters. This is achieved by formulating a Monte-Carlo algorithm that initializes a factor-graph representation of the calibration and localization problem. With this, we are able to jointly identify both the kinematic parameters and the visual odometry scale alongside their corresponding uncertainties. We demonstrate the practical applicability of the framework using our state-estimation dataset recorded with the ARAS-CAM suspended cable driven parallel robot, and published as part of this manuscript.

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Grey Box Non-Recursive System Identification for a Third Order Electro-Hydraulic Actuator System: From Simulation to Practical Approaches

Grey Box Non-Recursive System Identification for a Third Ord...

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International Colloquium on Signal Processing & Its Applications, CSPA

作者： Chong Chee Soon Rozaimi Ghazali Muhamad Fadli Ghani Siaw-Hong Liew Howe Cheng Teng Nur Farhanah Zulkipli Chong You Beh Mohd Saidi Hanaffi Department of Engineering and Built Environment Tunku Abdul Rahman University of Management and Technology (TAR UMT) Penang Branch Campus Pulau Pinang Malaysia Centre for Robotics and Industrial Automation Fakulti Teknologi dan Kejuruteraan Elektrik Universiti Teknikal Malaysia Melaka (UTeM) Melaka Malaysia Malaysian Institute of Marine Engineering Technology (MIMET) Universiti Kuala Lumpur Perak Malaysia Faculty of Computer Science and Information Technology Universiti Malaysia Sarawak (UNIMAS) Kota Samarahan Sarawak Malaysia

ISBN: (数字)9798350382310

ISBN: (纸本)9798350382327

Engineering systems heavily rely on mathematical modeling, significantly influencing both system performance and the design of control systems. This paper thoroughly investigates the establishment of a third-order mathematical model for heavy machinery systems, with a specific emphasis on the ElectroHydraulic Actuator (EHA) system. The formulation of a double-acting EHA system model using a grey box system identification approach is outlined, encompassing the system’s dynamics and behavior. In addition, the details of the EHA system experimental setup that is used for system identification are described. The identification process demonstrates promising performance, achieving an impressive accuracy of 89.1%, as highlighted in the results and discussion sections.

关键词： Actuators System performance Transfer functions Mathematical models Data models System identification Object recognition

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